Motorcycle

Abstract

The motorcycle comprises a radar module, a control module and an early warning interaction module, the radar module is arranged on the front portion (111) or the rear portion (112) of the motorcycle, the height from the center of the radar module to the reference plane is a first height (H1), the height from the intersection point of the axis of the handle (1511) and the outer end face of the handle to the reference plane is a second height (H2), and the ratio of the first height (H1) to the second height (H2) is larger than or equal to 0.35 and smaller than or equal to 0.75. The height from the driver seat cushion (1131) to the reference plane is a third height (H3), and the ratio of the first height (H1) to the third height (H3) is larger than or equal to 0.4 and smaller than or equal to 1.1.

Description

motorcycle

[0001] Related applications

[0002] This application claims priority to Chinese patent application number 202310064295.8, filed on January 16, 2023, entitled “Motorcycle,” the entire text of which is incorporated herein by reference. Technical Field

[0003] The present application relates to the technical field of driving equipment, and in particular to a motorcycle. Background Art

[0004] Prior art motorcycle assisted driving systems have numerous shortcomings, hindering driver safety. Furthermore, due to limited space on motorcycles, only essential components are typically installed. Installing assisted driving components on a motorcycle, ensuring they function effectively and meet the required assisted driving requirements, presents significant spatial challenges.

[0005] Regarding the related technologies, the assisted driving function of motorcycles is not perfect and no effective solution has been proposed yet.

[0006] Summary of the Invention

[0007] According to various embodiments of the present application, there is provided a motorcycle, comprising:

[0008] A main body, comprising a front portion and a rear portion, at least one riding area being provided between the front portion and the rear portion, and at least one driver's seat cushion being provided in the riding area;

[0009] wheels, including front and rear wheels;

[0010] a suspension system connected to the lower end of the main body, the suspension system comprising a front suspension and a rear suspension, the front wheels being connected to the main body via the front suspension, and the rear wheels being connected to the main body via the rear suspension;

[0011] a power system, at least partially supported on the main body, for providing power for the operation of the motorcycle, at least one of the front wheel and the rear wheel being transmission-connected to the power system;

[0012] a control system for controlling the operation of the motorcycle, the control system comprising a steering assembly, the steering assembly being disposed at the front portion of the main body, the steering assembly comprising a handle;

[0013] The motorcycle further includes at least one radar module, which is capable of emitting electromagnetic waves at a preset distance and a preset angle when the motorcycle is in a first preset state, and the preset distance and the preset angle are both matched to the motorcycle. The radar module is capable of collecting information of target objects within a preset area based on the emitted electromagnetic waves, and the preset area is located within the area formed by the preset distance and the preset angle. At least one of the radar modules is arranged at the front or rear of the motorcycle, the center of the radar module is at a first height above a reference plane, the intersection of the axis of the handle and the outer end surface of the handle is at a second height above the reference plane, the ratio of the first height to the second height is greater than or equal to 0.35 and less than or equal to 0.75, and the height of the driver's seat cushion from the reference plane is a third height, and the ratio of the first height to the third height is greater than or equal to 0.4 and less than or equal to 1.1.

[0014] The motorcycle also includes a control module and a warning interaction module. The control module is connected to the warning interaction module and at least one of the radar modules, respectively. The control module can perform corresponding warning interactions on the driver and passengers in the driving area based on the information of the target object collected by the radar module connected to it.

[0015] The details of one or more embodiments of the present application are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the present application will become apparent from the description, drawings, and claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the conventional technology, the following briefly introduces the drawings required for use in the embodiments or the conventional technology descriptions. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the disclosed drawings without any creative work.

[0017] FIG1 is a schematic structural diagram of a motorcycle according to one or more embodiments.

[0018] FIG2 is a schematic diagram of an installation position of a first radar module according to one or more embodiments.

[0019] FIG3 is a schematic diagram of a detection area of ​​a first radar module according to one or more embodiments.

[0020] FIG4 is a schematic diagram of an ACC region and a FCW region according to one or more embodiments.

[0021] FIG5 is a schematic diagram of a motorcycle assisted driving structure provided with a first radar module according to one or more embodiments.

[0022] FIG6 is a schematic diagram of a motorcycle assisted driving structure provided with a first radar module and a camera according to one or more embodiments.

[0023] FIG7 is a schematic diagram of an installation position of a second radar module according to one or more embodiments.

[0024] FIG8 is a schematic diagram illustrating a detection area of ​​a second radar module according to one or more embodiments.

[0025] FIG9 is a schematic diagram of a BSD region and an LCA region according to one or more embodiments.

[0026] FIG10 is a schematic diagram of an RCW region according to one or more embodiments.

[0027] FIG11 is a schematic diagram of blind spot detection for a motorcycle according to one or more embodiments.

[0028] FIG12 is a schematic diagram of a motorcycle assisted driving structure provided with a second radar module and a detection module according to one or more embodiments.

[0029] FIG13 is a schematic diagram comparing a driving assistance function area and a driver's field of view area according to one or more embodiments.

[0030] FIG14 is a schematic diagram of a motorcycle assisted driving structure provided with a first radar module and a second radar module according to one or more embodiments.

[0031] FIG15 is a schematic diagram of a connection circuit of pins of a first radar module and a second radar module according to one or more embodiments.

[0032] FIG16 is a schematic diagram of an assembled circuit of a first radar module and a second radar module according to one or more embodiments.

[0033] FIG17 is a schematic diagram illustrating installation locations of a third radar module and a fourth radar module according to one or more embodiments.

[0034] FIG18 is a schematic diagram of a CTA region according to one or more embodiments.

[0035] FIG19 is a schematic diagram of a motorcycle assisted driving structure provided with a second radar module, a third radar module, and a fourth radar module according to one or more embodiments.

[0036] FIG20 is a schematic diagram of a connection circuit of pins of the second radar module, the third radar module, and the fourth radar module according to one or more embodiments.

[0037] FIG21 is a schematic diagram illustrating circuitry of a second radar module, a third radar module, and a fourth radar module according to one or more embodiments.

[0038] FIG22 is a schematic diagram of a 360-degree full warning functional area according to one or more embodiments.

[0039] FIG23 is a schematic diagram of a motorcycle assisted driving structure provided with a first radar module, a second radar module, a third radar module, and a fourth radar module according to one or more embodiments.

[0040] FIG24 is a schematic diagram showing the working principle of a motorcycle driving assistance structure according to one or more embodiments.

[0041] FIG25 is a schematic diagram illustrating radar module fault detection principles according to one or more embodiments.

[0042] FIG26 is a schematic diagram of a radar module fault detection circuit according to one or more embodiments. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0044] Referring to FIG1 , in this embodiment, a motorcycle includes: a main body 11, wheels 12, a suspension system 13, a power system 14, a control system 15, and at least one radar module. To clearly illustrate the technical solution of this application, the front, rear, left, right, top, and bottom are defined as shown in FIG1 . The main body 11 includes a front portion 111 and a rear portion 112. At least one riding area 113 is provided between the front portion 111 and the rear portion 112. The riding area 113 is provided with a driver's seat 1131. The wheels 12 include a front wheel 121 and a rear wheel 122. The suspension system 13 is connected to the lower end of the main body 11. The suspension system 13 includes a front suspension 131 and a rear suspension 132. The front wheel 121 is connected to the front portion 111 via the front suspension 131, and the rear wheel 122 is connected to the rear portion 112 via the rear suspension 132. The power system 14 is at least partially supported on the main body 11 and is used to provide power for the operation of the motorcycle. At least one of the front wheel 121 and the rear wheel 122 is transmission-connected to the power system 14. The control system 15 includes a steering assembly 151, which is disposed at the front of the main body 11 and includes handlebars 1511. The handlebars 1511 include a left handlebar 1511a and a right handlebar 1511b.

[0045] The motorcycle also includes a radar module. When the motorcycle is in a preset state, the radar module is capable of emitting electromagnetic waves at a preset angle, each angle being compatible with the motorcycle. Based on the emitted electromagnetic waves, the radar module is capable of collecting information about target objects within a preset area, where the preset area is within the area defined by the preset angle. The motorcycle being in the preset state may mean that the motorcycle is powered on. Specifically, this may be triggered by the user using a key card; or by the user controlling the motorcycle's power on using a physical key; or by the user's smart remote control key within the sensing range; or by the user controlling the motorcycle's power on using a single button via a mobile application (APP). The methods for powering the motorcycle are not limited to the aforementioned methods. It should be noted that the radar module can be configured to automatically activate after the motorcycle is powered on; or it can be configured to activate only when the motorcycle is moving after power is on. This activation method can be configured to activate the radar module when the motorcycle's speed exceeds a certain threshold; or it can be configured to activate the radar module after the motorcycle is powered on using a voice wake-up function on a Bluetooth helmet; or by touching the display screen; or by touching a handlebar button. The methods for activating the motorcycle's radar are not limited to the aforementioned methods.

[0046] The motorcycle also includes a control module and a warning interaction module. The control module is connected to the radar module and the warning interaction module, respectively. The control module is capable of controlling the operation or interaction of the motorcycle based on information about target objects around the motorcycle detected by the radar module. Specifically, the control module is capable of increasing or decreasing the motorcycle's speed, stopping the motorcycle, or controlling the warning interaction module to perform corresponding warning interactions with drivers and passengers in the riding area based on information about target objects detected by the radar module.

[0047] In one embodiment, referring to Figure 2 , a radar module is disposed at the front of the motorcycle body, defined as a first radar module 16. First radar module 16 is located above the front wheel. Optionally, assuming the height of the center of the first radar module from a reference plane (e.g., the ground) is a first height H1, and the height of the intersection of the axis of the handlebar 1511 and the outer end surface of the handlebar from the reference plane is a second height H2, then the ratio of the first height to the second height is greater than or equal to 0.35 and less than or equal to 0.75. Optionally, assuming the height of the center of the driver's seat 1131 from the reference plane is a third height H3, then the ratio of the first height H1 to the third height H3 is greater than or equal to 0.4 and less than or equal to 1.1. Optionally, first height H1 is greater than or equal to 0.7 meters and less than or equal to 1.2 meters. Optionally, a cavity is defined below or in the center of the motorcycle's headlight, and first radar module 16 is embedded in this cavity in an exposed manner, flush with the headlight face. Optionally, first radar module 16 is secured to the body 11 using bolts. The radar module layout of this embodiment can meet the space and performance requirements of a motorcycle and is easy to install. It should be noted that the installation height of the first radar module 16 is related to the handlebar height and seat height of the motorcycle. Considering that the handlebar height combined with the seat height determines the motorcycle driver's eye view height, the installation height of the first radar module 16 is matched to the motorcycle driver's eye view height. This allows the first radar module 16, located at the front of the motorcycle, to provide the driver with a supplementary view while the motorcycle is in motion.

[0048] The first radar module 16 uses a millimeter-wave radar to detect target objects in front of the motorcycle, enabling adaptive cruise control (ACC) and forward collision warning (FCW). The first radar module 16 is capable of generating radar information, which includes target object information and alarm information. The first radar module 16 collects information about target objects within a preset area based on the emitted electromagnetic waves, and generates alarm information based on the target object information. The target object information includes one or more of the following: the distance between the target object in front and the vehicle, the speed of the target object in front, and the position of the target object in front. The first radar module 16 sends the radar information to the control module, which either keeps the vehicle traveling at a set speed or following distance based on the target object information, or controls the warning interaction module to trigger an alarm based on the alarm information.

[0049] Adaptive cruise control refers to the process where, when the first radar module 16 detects a vehicle ahead of the motorcycle, the control module increases or decreases the motorcycle's speed as needed and maintains a certain following distance. When the first radar module 16 detects no vehicle ahead, the control module maintains the motorcycle's set speed. Optionally, the motorcycle's maximum following speed is 130 km / h. Forward collision warning refers to the process where, when the first radar module 16 detects that the distance between the motorcycle and the vehicle ahead has reached a dangerous distance, the first radar module 16 transmits radar information to the control module. The control module triggers the interactive function of the warning interaction module based on this radar information, outputting visual and / or audible alarms to alert the driver and prevent a rear-end collision with the vehicle ahead. The warning interaction module can be distributed across one or more components of the motorcycle's instrument panel, rearview mirror, or seat. These components can output corresponding warning information in a coordinated or independent manner. For example, a warning symbol can be output on the instrument panel, through the rearview mirror, or through a vibration on the seat. In addition, a warning interaction module can be installed in a helmet compatible with a motorcycle, and an alarm sound reminder can be output through the helmet; or, a warning interaction module can be installed in the user's mobile terminal APP, and a bird's-eye view of the traffic conditions covering the vehicle can be output in real time through the APP to remind the driver to identify surrounding obstacles or target objects in low visibility.

[0050] The first radar module 16 is capable of emitting electromagnetic waves at preset angles, each of which is compatible with motorcycles. Referring to Figure 3 , S1 represents the first radar module's detection area 161. S1 can be considered a sector, with a maximum detection range (sector radius R) of up to 200 meters. When the detection field of view angle β is 90 degrees, the lateral detection width (chord L) does not exceed 50 meters. When the detection field of view angle β is 30 degrees, the lateral detection width (chord L) does not exceed 200 meters. Referring to Figure 4 , S6 represents the ACC area 1611, and S5 represents the FCW area 1612. Motorcycles occupy a small space, so the width of the functional areas can be slightly narrower. The widths of the ACC area 1611 and FCW area 1612 are less than the width of a lane (approximately 3.4 meters). This prevents the ACC area 1611 and FCW area 1612 from being too wide and triggering frequent alarms. Optionally, the width of the ACC area 1611 and the FCW area 1612 along the left-right direction of the motorcycle does not exceed 2.5 m, the length of the ACC area 1611 can reach 170 m, and the length of the FCW area 1612 can reach 50 m.

[0051] Please refer to Figure 5. The assisted driving structure includes: a sensor information processing layer 31, a vehicle information processing layer 32 and a gateway 33. The sensor information processing layer 31 includes a first communication unit 311 and a first radar module 16. The vehicle information processing layer 32 includes a control module 322, an early warning interaction module 323 and a second communication unit 321. The first communication unit 311 and the second communication unit 321 are connected through the gateway 33. The first radar module 16 installed on the front of the motorcycle is mounted on the first communication unit 311, and the control module 322 and the early warning interaction module 323 are mounted on the second communication unit 321. Among them, the first communication unit 311 and the second communication unit 321 can respectively adopt any one of the CAN bus, CANFD bus, and Ethernet. This embodiment takes the CAN bus as an example. The early warning interaction module 323 includes a multimedia interaction system and an instrument control panel (Multi Media Interface & Dash Board, MMI & DASH), which can realize fault prompts, alarm prompts or pop-up reminders. The control module 322 includes at least one of the following: an anti-lock brake system (ABS), capable of controlling and outputting the motorcycle's body tilt angle, pitch angle, or speed signal; an engine control module (ECM), capable of controlling and outputting the motorcycle's gear position signal, speed signal, torque signal, status signal, or acceleration signal; and a body control module (BCM), capable of activating an alarm light to provide a rear collision warning.

[0052] The vehicle information processing layer 32 may also include other modules, such as an inertial measurement unit (IMU) capable of collecting the motorcycle's angular velocity and acceleration, and a telematics box (T-box) capable of processing remote information. Vehicle Control Unit (VCU), Electronic Park Brake (EPB), Electronic Stability Control (ESC), Electronic Differential System (EDS), Electric Brake Boost (EBB), Electric Power Steering (EPS), Engine Management System (EMS), Positive Temperature Coeficient (PTC), Immobilizer (IMMO), Tire Pressure Monitoring System (TPMS), Air Conditioning (AC), On-Board Diagnostics (OBD).

[0053] In one embodiment, the motorcycle also includes a camera, located at the front of the motorcycle and connected to a control module. The control module determines the type of a target object ahead based on images captured by the camera. Based on the type of the target object and information collected by the radar module, the control module ensures that the distance between the motorcycle and the target object remains constant, ensuring the distance between the motorcycle and the target object remains constant. Specifically, the camera and first radar module 16 act as sensors for detecting targets ahead of the motorcycle. Simultaneously, the control module acts as a controller for the adaptive cruise control function. The camera and first radar module 16 are mounted on a first communication unit. The camera is responsible for object recognition based on the captured image. The control module makes a comprehensive decision based on the camera information and radar information from the first radar module 16. The control module then sends control commands to the vehicle's information processing layer via a gateway to perform longitudinal control of the motorcycle, enabling the adaptive cruise control function. Optionally, the camera comprises a monocular camera or a binocular camera, both of which include an EIS (Electrolyte Identification System) chip to ensure the quality of the captured images. The first radar module 16 comprises a millimeter-wave radar. This setting, by combining machine vision and radar sensing, addresses the defects of the camera's limited shooting distance and susceptibility to weather interference, as well as the first radar module 16's inability to identify the type of target object, making the comprehensive decision-making results more accurate and the control of the motorcycle more intelligent.

[0054] Optionally, the motorcycle includes multiple following distance gears. When the control module determines the presence of a target object based on information about the target object ahead and determines the target object ahead is a motor vehicle, the control module selects a target following distance gear corresponding to the motor vehicle from the multiple following distance gears and controls the motorcycle to travel at the target following distance gear. When the control module determines the presence of a target object based on information about the target object ahead and determines the target object ahead is a pedestrian or non-motor vehicle, the control module controls the motorcycle to reduce speed or stop. Specifically, the motor vehicle may be a car, truck, or motorcycle, and the non-motor vehicle may be a bicycle.

[0055] Optionally, the motorcycle's driving modes include a first mode and a second mode, wherein the power output by the motorcycle in the second mode is not less than the power output in the first mode; when the control module detects that the motorcycle has activated the second mode, the control module disables the adaptive cruise control function, wherein the adaptive cruise control function enables the motorcycle to travel at a preset following distance gear. Specifically, the first mode may be a highway mode, and the second mode may be a sports mode, and the highway mode and sports mode are switchable between each other. In highway mode, the motorcycle's power response speed will slow down, the throttle response will be sluggish, fuel consumption will be reduced, and energy efficiency will be increased; in sports mode, the motorcycle's power response speed will speed up, the throttle response will be more sensitive, and fuel consumption will increase. When the control module detects that the motorcycle has activated the sports mode, the control module disables the first radar module.

[0056] Optionally, the motorcycle also includes an inertial measurement unit (IMU) connected to the control module for detecting the motorcycle's tilt angle. The control module then disables the first radar module based on the tilt angle. When the tilt angle is greater than a first threshold, the control module disables the first radar module. The motorcycle includes multiple following distance settings. When the tilt angle is greater than a second threshold but less than the first threshold, the control module disables the lowest of the multiple following distance settings. Specifically, the first threshold may be 30 degrees, the second threshold may be 20 degrees, and the following distance settings, from highest to lowest, are 80 meters, 50 meters, and 30 meters, respectively. When the tilt angle reaches 30 degrees, the control module determines that the vehicle is in a curve and disables the first radar module to save power. When the tilt angle is greater than 20 degrees but less than 30 degrees, the motorcycle continues to operate the ACC function, but the control module disables the 30-meter following distance setting. Furthermore, the control module can control the motorcycle to reduce the throttle and decelerate based on the tilt angle, ensuring stable and safe vehicle posture on curves and enhancing safety and comfort. The motorcycle also includes a warning interaction module, connected to the control module. The control module can control the warning interaction module to perform corresponding warning interactions on the driver and passengers in the driving area based on the type of the target object ahead and the information about the target object ahead. The warning interaction module can output visual and / or audible alerts. Specifically, when the target object ahead is a pedestrian or non-motor vehicle, the MMI&DASH will announce by voice, "Watch out for pedestrians or non-motor vehicles ahead." When the target object ahead is a motor vehicle, the MMI&DASH will announce by voice, "Slow down."

[0057] Referring to Figure 6 , this assisted driving structure, based on Figure 5 , adds a camera 313, mounted on the first communication unit 311. The camera 313 communicates with the first radar module 16 via the first communication unit 311. The first communication unit 311 and the second communication unit 321 can each utilize any of the following: a CAN bus, a CANFD bus, or Ethernet. This embodiment uses the CAN bus as an example. Optionally, the control module 322 can be located within the camera 313 or independently of it. In the example where the control module 322 is located within the camera, the camera 313 processes its own captured images and information about the forward target object captured by the first radar module 16, generates control commands, and outputs these commands to the vehicle information processing layer 32 via the gateway 33. These control commands then send acceleration or deceleration signals to the ABS, ECM, and VCU within the vehicle information processing layer 32, controlling the motorcycle to maintain a set speed. Furthermore, the MMI & DASH within the warning interaction module 323 outputs visual and / or audible alerts to warn the driver and prevent a rear-end collision with the vehicle ahead, thereby implementing adaptive cruise control and forward collision warning. Furthermore, the camera 313 also obtains data from some modules of the vehicle information processing layer 32 to make comprehensive decisions. The camera 313 obtains the vehicle speed signal from the ABS, the angular acceleration signal and acceleration signal of the vehicle from the IMU, the power gear position signal of the vehicle from the ECM, and the vehicle distance signal set by the handlebar button of the vehicle from the VCU. Optionally, the software of the camera 313 can be upgraded through Over-the-Air Technology (OTA), wherein OTA can remotely manage the software in the camera 313 through the mobile communication interface. Optionally, the instrument interface displays multiple adjustable following distances and set speeds, which can be set through the handlebar buttons. Compared with related technologies, the assisted driving solution of this embodiment can comprehensively improve the driving safety and comfort of motorcycles.

[0058] In one embodiment, referring to Figure 7 , a radar module is disposed at the rear of the motorcycle body 11, defined as a second radar module 17. Optionally, assuming the height of the center of the second radar module 17 from a reference plane is a first height H1, and the height of the intersection of the axis of the handlebar 1511 and the outer end surface of the handlebar from the reference plane is a second height H2, then the ratio of the first height H1 to the second height H2 is greater than or equal to 0.35 and less than or equal to 0.75. Optionally, assuming the height of the center of the driver's seat 1131 from the reference plane is a third height H3, then the ratio of the first height H1 to the third height H3 is greater than or equal to 0.4 and less than or equal to 1.1. Optionally, the first height H1 is greater than or equal to 0.5 meters and less than or equal to 1.1 meters. Optionally, a cavity is defined below or in the middle of the motorcycle's taillight, and the second radar module 17 is externally embedded in the cavity. Optionally, the second radar module 17 is internally mounted within the motorcycle's rear fender. Optionally, the second radar module 17 is secured with bolts. The radar module arrangement of this embodiment can meet the space and performance requirements of motorcycles and is easy to install. It should be noted that on traditional motorcycles, rearview mirrors are located on the handlebars, and the driver's perspective of the rear of the vehicle depends on the rearview mirrors, but the rearview mirrors have a limited field of view. In this embodiment, the installation height of the second radar module 17 is related to the height of the handlebars and the seat of the motorcycle. Considering that the handlebar height combined with the seat height determines the height of the motorcycle driver's eye view, the installation height of the second radar module 17 is matched to the height of the motorcycle driver's eye view. This allows the second radar module 17, located at the rear of the motorcycle, to provide the driver with a supplementary perspective while the motorcycle is in motion.

[0059] The second radar module uses a millimeter-wave radar to detect targets behind the motorcycle and collaborates with the control module to implement blind spot detection (BSD), lane change assist (LCA), and rear collision warning (RCW). The second radar module generates radar information, including target object information and warning information. The second radar module collects target object information within a preset area based on the electromagnetic waves it emits and generates warning information based on the target object information. The target object information includes one or more of the following: the distance between the rear target object and the vehicle, the speed of the rear target object, and the position of the rear target object. The second radar module transmits the radar information to the control module, which either maintains the vehicle's speed or following distance based on the target object information or controls the warning interaction module to trigger an alarm based on the warning information.

[0060] Lane Change Assist refers to a feature where a second radar module can detect the distance, relative speed, and bearing of other vehicles in adjacent lanes within a certain range while the motorcycle is in motion. The second radar module also detects the blind spot behind the motorcycle. If another vehicle enters the blind spot, the second radar module transmits radar information to the control module. This information triggers the motorcycle's interactive function, causing the early warning and interaction module to issue a visual and / or audible alert to warn the driver, thereby notifying the driver of the optimal time to change lanes and significantly reducing accidents caused by lane changes. Rear Collision Warning refers to a feature where a vehicle is in the motorcycle's blind spot or approaching from behind at high speed. The second radar module transmits radar information to the control module, triggering the early warning and interaction module to issue a visual and / or audible alert to warn the driver, helping to avoid a rear-end collision. If the driver uses the turn signal at this time, the control module will provide an alternative warning to alert the driver of the potential collision. The warning interaction module can be distributed and installed in one or more of the motorcycle's instrument panel, rearview mirror, or seat. These components can output corresponding warning information in a coordinated or independent manner. For example, a prompt symbol can be output through the instrument panel, a prompt symbol can be output through the rearview mirror, and a vibration reminder can be emitted through the seat. In addition, the warning interaction module can be installed in a helmet compatible with the motorcycle, and the helmet can output an alarm sound reminder; or the warning interaction module can be installed in the user's mobile terminal app, and the app can output a real-time bird's-eye view of the traffic conditions covering the vehicle, reminding the driver to identify surrounding obstacles or targets in low visibility conditions.

[0061] Exemplarily, the early warning interaction module includes a vibrating element positioned beneath the driver's seat. A control module is connected to the vibrating element. When the motorcycle's speed exceeds the road speed, if the radar module detects a target object within a safe distance from the motorcycle, the control module can activate the vibrating element to vibrate the seat. Alternatively, when the motorcycle changes lanes, if the second radar module detects a vehicle approaching from behind, the second radar module transmits radar information to the control module, which triggers the vibrating element to vibrate based on the radar information, alerting the driver to avoid a rear-end collision. This solution, which uses seat vibration as a reminder, is safer for the user. Optionally, the early warning interaction module also includes an audible and visual alarm device positioned at the rear of the motorcycle to remind the following vehicle to slow down or maintain a safe distance. The second radar module is capable of emitting electromagnetic waves at a preset distance and angle, both of which are compatible with the motorcycle. Referring to Figure 8 , S2 represents the second radar module's detection area 171. The maximum detection range is 100 meters, and the detection angle β is 75 to 80 degrees. Compared with related technologies, the radar module arrangement scheme of this embodiment is equivalent to the effect of using two rear-facing radars in a passenger car to achieve blind spot monitoring.

[0062] In one embodiment, a second radar module is configured to perform blind spot detection and lane change assistance. The second radar module's preset areas include a first area and a second area. The first area is configured for blind spot detection, while the second area is configured for lane change assistance. The first area is closer to the motorcycle than the second area. If a target object is located within the first area, the second radar module initiates an early warning. If a target object is located within the second area, and the ratio of the target object's distance to the motorcycle to the relative speed between the two objects is less than a time threshold, the second radar module initiates an early warning. Specifically, referring to Figure 9 , S7 and S8 are two subareas of the first area—a first subarea 1711a and a second subarea 1711b, respectively—symmetrically located behind the motorcycle. S9 and S10 are two subareas of the second area—a third subarea 1712a and a fourth subarea 1712b, respectively, symmetrically located behind the motorcycle. S7 and S8 can serve as the BSD area 1711, while S7+S9 and S8+S10, or S9 and S10, can serve as the LCA area 1712. When the motorcycle's speed exceeds a first threshold, the second radar module can determine whether there is a target object in the first area and issue a warning if a target object is present in the first area. When the motorcycle's speed exceeds a second threshold, the second radar module can determine whether there is a target object in the second area and issue a warning if the ratio of the target object's distance to the motorcycle and the relative speed between the two falls below a time threshold. The first threshold does not exceed the second threshold; the first threshold is no less than 3 km / h and no more than 5 km / h, and the second threshold is no less than 10 km / h and no more than 20 km / h.

[0063] As the motorcycle's speed changes, the second radar module can adapt to the speed and perform corresponding warning tasks. For example, the first threshold is 5 km / h, the second threshold is 20 km / h, and the motorcycle's speed increases from slow to high. When the motorcycle's speed increases to 5 km / h, the second radar module detects whether there is a target object in the first area. If so, an LCA warning is executed, and the LCA areas are S7+S9 and S8+S10. When the motorcycle's speed continues to increase to 20 km / h, the second radar module continues to detect whether there is a target object in the first area, and detects whether there is a target object in the second area. If a target object is detected in the first area, a BSD warning is executed, and the BSD areas are S7 and S8. If a target object is detected in the second area, an LCA warning is executed, and the LCA areas are S9 and S10.

[0064] This embodiment can automatically adapt the motorcycle to the assisted driving needs under different vehicle speed conditions by adjusting the LCA area of ​​the motorcycle. In this embodiment, considering that the driving environment of the motorcycle is more complex, it will drive on both motor vehicle lanes and non-motor vehicle lanes. Since the speed is lower when driving on non-motor vehicle lanes, the LCA function may need to be turned on before the motorcycle speed reaches 20km / h. In order to avoid frequent alarms after turning on the LCA function, the LCA function activation threshold is set at 5km / h, that is, the LCA function is turned on only when the motorcycle speed reaches 5km / h or above. Moreover, the first area is closer to the vehicle than the second area, and the warning priority of the first area is higher than the warning priority of the second area, which can ensure that the risk closest to the rear of the motorcycle is overcome.

[0065] Optionally, the length of the first area along the front-to-back direction of the motorcycle does not exceed a certain length, and the length of the second area along the front-to-back direction of the motorcycle is not less than the length of the first area along the front-to-back direction of the motorcycle. Specifically, motorcycles occupy a small space, and thus require less space for lane changes. Therefore, the length of the motorcycle functional area can be set to be slightly smaller. In this embodiment, the length of the S7 area can be 5 meters.

[0066] Optionally, the motorcycle is also configured to perform rear collision warning. The preset area of ​​the second radar module also includes a third area, located between the two subareas of the first area. The steering assembly also includes a left handlebar and a right handlebar. The width of the third area along the left-right direction of the motorcycle does not exceed 2.5 meters and is no less than the width between the left and right handlebars. The width between the left and right handlebars is defined as the distance between the intersection of the axis of the left handlebar and the outer end surface of the left handlebar and the intersection of the axis of the right handlebar and the outer end surface of the right handlebar. This configuration is intended to prevent the third area from being too wide, which could cause the second radar module to frequently issue warnings. It also ensures that the third area covers the entire width of the motorcycle, ensuring safe driving. Optionally, the motorcycle also includes taillights. If a target object is within the third area, the taillights activate to warn vehicles behind. For details, please refer to Figure 10, which is a schematic diagram of the RCW area in this embodiment. S11 represents the third area, which can be RCW area 1713. The width of RCW area 1713 is less than the width of a lane (approximately 3.4 meters). Optionally, the width of the RCW area is 2 meters.

[0067] The blind spot detection method of the related art uses the rear radar of a motorcycle to detect pre-planned functional areas. If a target object is detected within the functional area, an alarm is triggered. However, this method only correctly triggers the alarm when the vehicle is traveling on a road with a large curve radius (e.g., 500 meters). When the curve radius is small (e.g., less than 500 meters), there is a high probability of missing the alarm, which interferes with the driver's judgment of the road conditions. In one embodiment, please refer to Figure 11, a motorcycle is traveling in three curve radius scenarios, with curve radii of 200 meters, 300 meters, and 400 meters respectively. In each curve radius scenario, the first small rectangle is the vehicle, the rectangular box is the functional area, and the three small rectangles following the vehicle from near to far are the first target object 41, the second target object 42, and the third target object 43. As can be seen from the figure, the smaller the curve radius, the further the second and third target objects are from the functional area. This will result in the rear radar not triggering the alarm even if the second and third target objects are at risk of collision with the vehicle, resulting in missed alarms.

[0068] To address the above issues, in this embodiment, the motorcycle further includes a detection module, located within the main body, for detecting the motorcycle's yaw angular velocity. A second radar module is connected to the detection module, adjusting a preset area based on the yaw angular velocity and executing a warning task based on the adjusted preset area. The second radar module is capable of calculating the radius of the motorcycle's curve based on the yaw angular velocity and adjusting the preset area based on the calculated radius. When the curve radius calculated by the second radar module is less than a first threshold, the second radar module widens the pre-planned preset area and executes the warning task based on the widened preset area. When the curve radius calculated by the second radar module is not less than the first threshold, the second radar module executes the warning task within the pre-planned preset area. When the radar module detects a target object while executing the warning task, it triggers an alarm. Optionally, the detection module is also configured to detect the motorcycle's tilt angle. When the radar module determines that the tilt angle exceeds a third threshold, it deactivates the alarm. Optionally, the preset area includes a first area and a second area, with the first area being closer to the motorcycle than the second area. The warning task includes at least one of the following: if a target object is present in the first area, the radar module initiates a warning; if a target object is present in the second area and the ratio of the distance between the target object and the motorcycle and the relative speed between the two is below a time threshold, the radar module initiates a warning. Optionally, each of the first and second areas includes two subareas, and the subareas of the first and second areas are symmetrically distributed behind the motorcycle. The detection module and the second radar module are respectively mounted on the first communication unit, and the second radar module receives information collected by the detection module via the first communication unit. Optionally, the motorcycle further includes a power module, connected to the detection module and the second radar module. Yaw angular velocity refers to the angular velocity of the motorcycle's rotation about a vertical axis, which is perpendicular to the ground. The magnitude of this angular velocity represents the degree of tilt of the motorcycle. If this angular velocity reaches a certain threshold, it indicates a risk of sideslip or tailspin. The tilt angle refers to the angle at which the motorcycle deviates from the vertical axis, such as a large tilt angle when cornering.

[0069] Exemplarily, the detection module includes a 6D gyroscope, and the second radar module includes a millimeter-wave radar. The second radar module is communicatively connected to the detection module via a first communication unit. A power module is connected to the second radar module and the detection module, respectively, to provide power to the two modules. During the motorcycle's travel, the detection module acquires the vehicle's yaw rate and tilt angle and transmits these values ​​to the second radar module. The second radar module calculates the curve radius based on the yaw rate information and, based on the calculated curve radius, adjusts the pre-planned functional area in the software in real time. For example, if the curve radius calculated by the second radar module is less than 500 meters, the pre-planned functional area is widened to cover the lane area behind the vehicle. If the curve radius calculated by the second radar module is not less than 500 meters, the pre-planned functional area is restored to ensure the second radar module's detection range. This configuration enables timely detection of the vehicle's posture and improves alarm accuracy. Furthermore, if the motorcycle's tilt angle is excessive, such as exceeding 40 degrees, the second radar module's scanning area will be largely focused on the ground, which can easily trigger false alarms. To solve this problem, the second radar module will determine whether the vehicle is turning too much based on the vehicle's tilt angle. If it is determined that the vehicle is turning too much, the radar alarm will be suppressed to avoid triggering false alarms.

[0070] Referring to Figure 12 , the assisted driving structure includes a sensor information processing layer 31, a vehicle information processing layer 32, and a gateway 33. The sensor information processing layer includes the second radar module 17, a detection module 314, and a first communication unit 311. The vehicle information processing layer 32 includes a warning interaction module 323, a control module 322, and a second communication unit 321. One end of the first communication unit 311 and the second communication unit 321 are respectively connected to the gateway 33. The second radar module 17 and the detection module 314 are mounted on the first communication unit 311, while the warning interaction module 323 and the control module 322 are mounted on the second communication unit 321. The first communication unit 311 and the second communication unit 321 can each utilize any of the following: a CAN bus, a CAN FD bus, or Ethernet. This embodiment uses the CAN bus as an example. Optionally, the warning interaction module 323 includes an MMI & DASH, and the control module 322 includes a BCM. The MMI & DASH can output audio and video prompts, and the BCM can activate the warning light. The detection module 314 is used to collect the vehicle's yaw rate and tilt angle. The second radar module 17 can generate control instructions based on the yaw rate and tilt angle, and output the control instructions to the vehicle information processing layer 32 via the gateway 33. Based on the control instructions, the vehicle information processing layer 32 controls the MMI&DASH to output visual and / or audible alarms to warn the driver to avoid a rear-end collision with the vehicle behind, and controls the BCM to activate the warning light to warn the vehicle behind to avoid a collision with the vehicle. Optionally, the vehicle information processing layer 32 may also include other modules, including but not limited to ABS, IMU, ECM, VCU, T-BOX, EPB, ESC, EDS, EBB, EPS, EMS, PTC, IMMO, TPMS, AC, and OBD.

[0071] In one embodiment, a first radar module is installed at the front of the motorcycle body, and a second radar module is installed at the rear of the motorcycle body. The installation location of the first radar module can be seen in Figure 2, and the installation location of the second radar module can be seen in Figure 7. Referring to Figure 13, the left side shows the driver's field of view, including a dynamic field of view area 51, a static field of view area 52, and a rearview mirror field of view area 53. The dynamic field of view area has an angle of 180 degrees, the static field of view area has an angle of 240 degrees, and the rearview mirror field of view area has an angle of 30 degrees. The right side shows the assisted driving function area, including an ACC area 1611, a FCW area 1612, a BSD area 1711, a LCA area 1712, and a RCW area 1713. The functional logic and functional areas of the first and second radar modules have been described in the previous embodiments and will not be repeated in this embodiment.

[0072] Referring to Figure 14 , the assisted driving structure includes a sensor information processing layer 31, a vehicle information processing layer 32, and a gateway 33. The sensor information processing layer 31 includes a first radar module 16, a second radar module 17, and a first communication unit 311. The vehicle information processing layer 32 includes a control module 322, a warning interaction module 323, and a second communication unit 321. One end of the first communication unit 311 and the second communication unit 321 are respectively connected to the gateway 33. The first radar module 16 and the second radar module 17 are mounted on the first communication unit 311, and the control module 322 and the warning interaction module 323 are mounted on the second communication unit 321. The first communication unit 311 and the second communication unit 321 can each utilize any of the following: a CAN bus, a CAN FD bus, or Ethernet. This embodiment uses the CAN bus as an example. Optionally, the warning interaction module 323 includes the MMI & DASH, and the control module 322 includes the ABS, IMU, ECM, VCU, and BCM. The first communication unit 311 and the second communication unit 321 can each utilize the CAN bus. The first radar module 16 serves as the main control module, receives the target object information collected by the second radar module 17, and integrates the target object information collected by itself and the second radar module 17 to generate a control instruction. The control instruction is output to the vehicle information processing layer 32 through the gateway 33. Based on the control instruction, the vehicle information processing layer 32 sends an acceleration or deceleration signal to the ABS, ECM, and VCU to control the motorcycle to maintain a set speed, control the MMI&DASH to output a visual alarm and / or an audible alarm to remind the driver to avoid a rear-end collision with the vehicle in front or behind, and control the BCM to drive the warning light to alert the vehicle behind to avoid a collision with the vehicle.

[0073] Considering that the first and second radar modules are developed on the same platform and are indistinguishable due to their similar appearance, installation errors are prone to occur during assembly and after-sales maintenance. If an installation error occurs, the radar modules will only operate according to their internal fixed programming. However, the internal programming of the radar modules is related to functional logic, which will lead to the risk of false alarms and missed alarms in functional areas. To address this problem, in this embodiment, the voltage level of the first pin of the radar module is pre-set based on the installation location of the radar module on the motorcycle. At least one radar module (e.g., the second radar module) includes a control unit, a detection unit, and a first pin. The control unit is connected to the detection unit, and the detection unit is capable of detecting the voltage level of the first pin. The control unit can determine the actual installation location of the second radar module based on the voltage level of the first pin. The first pin can be connected to a power module, grounded, or left floating. Specifically, when the first and second radar modules are connected to the first CAN bus, the detection unit reads the voltage level of the first pin and sends the detected voltage level to the control unit. The control unit determines the associated installation location based on the voltage level of the first pin. For example, a high voltage level is associated with the rear of the motorcycle.

[0074] Optionally, the control unit is further configured to compare the voltage level of the first pin with a preset voltage level. If not, the control unit determines that the second radar module has been incorrectly installed and outputs an installation error message to the first CAN bus, which is then transmitted to the second CAN bus via the gateway to notify the corresponding module. The second radar module also includes a storage unit connected to the control unit for storing the preset voltage level. The storage unit also stores the location information of the second radar module, which includes a location code and internal coordinates. If the control unit determines that the voltage level of the first pin is inconsistent with the preset voltage level, the control unit updates the location information based on the actual installation location. Specifically, the detection unit is a high-low voltage detection circuit connected to the first pin. The first pin can be connected to an address line and defined as an Addr function. When the second radar module is powered on, the second radar module writes the location code and converts the internal coordinates based on the first pin. Each time the second radar module is powered on, it checks the consistency between the voltage level written and detected on the first pin. If the voltage level written and detected are inconsistent, the second radar module outputs an assembly position error message. This effectively avoids the risk of false positives and false negatives in functional areas due to incorrect radar module assembly position, and enables autonomous identification of the radar module assembly position. For example, if a high-low level detection circuit detects that the level of the first pin is a first level, the first radar module is identified. If a high-low level detection circuit detects that the level of the first pin is a first level, the second radar module is identified. The first level and the second level can be any two of a low level, a high level, or an open pin.

[0075] In Figure 15, both the first and second CAN buses utilize differential signaling. The two signal lines of the first CAN bus are defined as R_CANH and R_CANL, while the two signal lines of the second CAN bus are defined as V_CANH and V_CANL. R_CANH and V_CANH transmit high-level signals, while R_CANL and V_CANL transmit low-level signals. Optionally, pin 2 of each radar module is defined as pin 1. Pin 1 of the first radar module 16 is connected to line BCM_KL15, pin 1 of the second radar module 17 is grounded, pin 8 of each radar module is grounded, pin 6 of each radar module is connected to line BCM_KL15, pins 3 and 9 of each radar module are connected to the second CAN bus, and pins 4 and 10 of each radar module are connected to the first CAN bus. BCM_KL15 represents the BCM control line, and BAT_30 represents the battery positive lead. Optionally, in the second radar module, its pin 5 is connected to the first warning light L1 of the left rearview mirror, its pin 11 is connected to the second warning light L2 of the right rearview mirror, and its pin 12 is connected to the buzzer L3. In Figure 16, the BAT_30 line is connected in series with resistor R and connected to the first terminal of relay 21. The power receiving interfaces of the first radar module 16 and the second radar module 17 are both connected to the second terminal of relay 21. The BCM_KL15 line is connected to the fourth terminal of the relay, and the third terminal of the relay is grounded. When the first and second terminals of the relay are connected, the power supply is connected.

[0076] Referring to Figure 17, two radar modules are symmetrically arranged on either side of the motorcycle body, defined as a third radar module 18 and a fourth radar module 19. Taking third radar module 18 as an example, optionally, assuming the height of the center of third radar module 18 from the reference plane is a first height H1, and the height of the intersection of the handlebar axis and the outer end surface from the reference plane is a second height H2, then the ratio of the sum of the first height H1 and the second height is greater than or equal to 0.35 and less than or equal to 0.75. Alternatively, assuming the height of the center of the driver's seat 1131 from the reference plane is a third height H3, then the ratio of the first height H1 to the third height H3 is greater than or equal to 0.4 and less than or equal to 1.1. Optionally, the first height H1 is greater than or equal to 0.57 meters and less than or equal to 0.8 meters. Optionally, third radar module 18 and fourth radar module 19 are respectively arranged on the outside of the motorcycle's two side boxes, with their surfaces flush with the side boxes. Optionally, third radar module 18 and fourth radar module 19 are concealed within the motorcycle's fuel tank. Optionally, bolts are used to secure the third and fourth radar modules 18, 19. Compared to related technologies, the radar module arrangement of this embodiment can adapt to the space and performance requirements of a motorcycle and is easy to install. It should be noted that the installation height of the third and fourth radar modules 18, 19 is related to the handlebar height and seat height of the motorcycle. The handlebar height combined with the seat height determines the motorcycle driver's eye level. Consequently, the installation height of the third and fourth radar modules 18, 19 matches the motorcycle driver's eye level, allowing the third and fourth radar modules 18, 19, located on both sides of the motorcycle body, to provide the driver with a supplementary perspective while the motorcycle is in motion.

[0077] In one embodiment, a second radar module is provided at the rear of the motorcycle body, and a third radar module and a fourth radar module are respectively provided on both sides of the motorcycle body. The installation position of the second radar module can be referred to Figure 7, and the installation positions of the third radar module and the fourth radar module can be referred to Figure 17.

[0078] In this embodiment, the second radar module uses a millimeter-wave radar to detect targets behind the motorcycle, while the third and fourth radar modules each use a millimeter-wave radar to detect targets on the left and right sides of the motorcycle. The second radar module collaborates with the third and fourth radar modules to implement a Cross Traffic Alert (CTA). The second, third, and fourth radar modules are each capable of generating radar information, including target object information and alarm information. Each radar module collects information about targets within a preset area based on the electromagnetic waves it emits and generates alarm information based on the target information. The target object information includes one or more of the following: the distance between the target objects behind or on the left and right sides of the vehicle, the target object's speed, and the target object's position. The second radar module transmits its radar information to the control module, which generates control instructions based on the radar information and controls the warning interaction module to output a visual and / or audible alarm to alert the driver. For example, if the second radar module detects a vehicle rapidly approaching from behind, it transmits the radar information to the control module, which triggers the warning interaction module based on the radar information, causing it to output an alarm to alert the driver. The third and fourth radar modules transmit their respective radar information to the control module. The control module generates control instructions based on the radar information, instructing the early warning interaction module to output a visual and / or audible alarm to alert the driver. For example, if the third radar module detects a vehicle rapidly approaching from the left, the third radar module transmits the radar information to the control module. The control module triggers the early warning interaction module based on the radar information, causing it to output an alarm to alert the driver. If the fourth radar module detects a vehicle rapidly approaching from the right, the fourth radar module transmits the radar information to the control module. The control module triggers the early warning interaction module based on the radar information, causing it to output an alarm to alert the driver.

[0079] The warning interaction module can be distributed and installed in one or more of the motorcycle's instrument panel, rearview mirror, or seat. These components can output corresponding warning information in a coordinated or independent manner. For example, a prompt symbol can be output through the instrument panel, a prompt symbol can be output through the rearview mirror, and a vibration reminder can be emitted through the seat. In addition, the warning interaction module can be installed in a helmet compatible with the motorcycle, and the helmet can output an alarm sound reminder; or the warning interaction module can be installed in the user's mobile terminal app, and the app can output a real-time bird's-eye view of the traffic situation covering the vehicle, reminding the driver to identify surrounding obstacles or targets in low visibility.

[0080] Exemplarily, the early warning interaction module includes a vibrating member, which is arranged under the driver's seat cushion. When the motorcycle changes lanes, if the second radar module detects that a vehicle is approaching the vehicle from the rear, or the third radar module detects that a vehicle is approaching the vehicle from the left, or the fourth radar module detects that a vehicle is approaching the vehicle from the right, then the second radar module, the third radar module or the fourth radar module will send the radar information to the control module. The control module triggers the vibration member to vibrate according to the radar information to remind the driver of the vehicle to avoid collision with the rear vehicle or vehicles coming from the left or right. This solution is safer for users by using the seat cushion vibration reminder method. Optionally, the early warning interaction module also includes an audible and visual alarm device, which is arranged at the rear of the motorcycle to remind the rear vehicle to slow down or maintain a safe distance.

[0081] Figure 18 is a schematic diagram of the CTA area in this embodiment. S2, S3, and S4 are the CTA areas, namely the second radar module detection area 171, the third radar module detection area 181, and the fourth radar module detection area 191. Referring to Figure 19, the assisted driving structure includes a sensor information processing layer 31, a vehicle information processing layer 32, and a gateway 33. The sensor information processing layer 31 includes the second radar module 17, the third radar module 18, the fourth radar module 19, and a first communication unit 311. The vehicle information processing layer 32 includes a warning interaction module 323, a control module 322, and a second communication unit 321. One end of the first communication unit 311 and the second communication unit 321 are respectively connected to the gateway 33. The second radar module 17, the third radar module 18, and the fourth radar module 19 are mounted on the first communication unit 311, and the warning interaction module 323 and the control module 322 are mounted on the second communication unit 321. The first communication unit 311 and the second communication unit 321 can each utilize any of the CAN bus, CANFD bus, or Ethernet. This embodiment uses the CAN bus as an example. Optionally, the warning interaction module 323 includes an MMI&DASH, and the control module 322 includes a BCM. The second radar module 17 serves as the main control module, receiving target object information collected by the third radar module 18 and the fourth radar module 19, and fusing the target object information collected by itself and the third radar module 18 and the fourth radar module 19 to generate control instructions. The control instructions are output to the vehicle information processing layer through the gateway. Based on the control instructions, the vehicle information processing layer controls the MMI&DASH to output visual and / or audible alarms to remind the driver to avoid rear-end collisions with the vehicle behind and the vehicles on the left and right sides, and controls the BCM to drive the warning lights to alert the vehicles behind to avoid collisions with the vehicle.

[0082] Considering that the second, third, and fourth radar modules are developed on the same platform and are indistinguishable due to their similar appearance, installation errors are prone to occur during assembly and after-sales maintenance. If an installation error occurs, the radar module will only operate according to its internal fixed program. However, the internal program and functional logic of the radar module are related, which will lead to the risk of false alarms and missed alarms in functional areas. To address this problem, in this embodiment, the voltage level of the first pin of the radar module is pre-set. Each radar module includes a control unit, a detection unit, and a first pin. The control unit is connected to the detection unit, which can detect the voltage level of the first pin and determine the actual installation location of the radar module based on the voltage level of the first pin. The first pin can be connected to the power module, grounded, or left floating. Specifically, when each radar module is connected to the first CAN bus, the detection unit reads the voltage level of the first pin and sends the detected voltage level to the control unit. The control unit determines the associated installation location based on the voltage level of the first pin. For example, a high voltage level is associated with the rear of the main body, a low voltage level is associated with the left side of the main body, and a floating first pin is associated with the right side of the main body.

[0083] Optionally, the control unit is further configured to compare the voltage level of the first pin with a preset voltage level. If not, the radar module is determined to be incorrectly installed and an installation error message is output to the first CAN bus, which is then transmitted to the second CAN bus via the gateway to notify the corresponding module. The radar module also includes a storage unit connected to the control unit for storing the preset voltage level. The storage unit also stores the radar module's location information, which includes a location code and internal coordinates. If the control unit determines that the voltage level of the first pin is inconsistent with the preset voltage level, the control unit updates the location information based on the actual installation location. Specifically, the detection unit is a high-low voltage detection circuit connected to the first pin. The first pin can be connected to an address line and defined as an Addr function. When the radar module is powered on, the radar module writes the location code and converts the internal coordinates based on the first pin. Each time the radar module is powered on, it checks the consistency of the voltage level written and detected on the first pin. If the written and detected voltage levels are inconsistent, the radar module outputs an assembly position error message. This effectively avoids the risk of false positives and false negatives in functional areas due to incorrect radar module assembly position, and enables autonomous identification of the radar module's assembly position. For example, if a high-low level detection circuit detects that the level of the first pin is a high level, it is identified as the second radar module; if a high-low level detection circuit detects that the level of the first pin is a low level, it is identified as the third radar module; if a high-low level detection circuit detects that the level of the first pin is a floating level, it is identified as the fourth radar module.

[0084] Referring to Figure 20 , both the first and second CAN buses utilize differential signaling. The two signal lines of the first CAN bus are defined as R_CANH and R_CANL, while the two signal lines of the second CAN bus are defined as V_CANH and V_CANL. R_CANH and V_CANH transmit high-level signals, while R_CANL and V_CANL transmit low-level signals. Optionally, pin 2 of each radar module is defined as pin 1. The first pin of the second radar module 17 is grounded, the first pin of the third radar module 18 is connected to the BCM_KL15 line, the first pin of the fourth radar module 19 is left floating, pin 8 of each radar module is grounded, pin 6 of each radar module is connected to the BCM_KL15 line, pins 3 and 9 of each radar module are connected to the second CAN bus, and pins 4 and 10 of each radar module are connected to the first CAN bus. BCM_KL15 represents the BCM control line, and BAT_30 represents the battery positive lead. Optionally, in the second radar module, its pin 5 is connected to the first warning light of the left rearview mirror, its pin 11 is connected to the second warning light of the right rearview mirror, and its pin 12 is connected to buzzer L3. Referring to Figure 21, the BAT_30 line is connected in series with resistor R and connected to terminal 1 of relay 21. The power receiving interfaces of the second radar module 17, the third radar module 18, and the fourth radar module 19 are all connected to terminal 2 of relay 21. The BCM_KL15 line is connected to terminal 4 of the relay, and terminal 3 of the relay is grounded. When terminals 1 and 2 of the relay are connected, the power supply is connected.

[0085] In one embodiment, a first radar module 16 is installed at the front of the motorcycle body, a second radar module 17 is installed at the rear of the motorcycle body, and a third radar module 18 and a fourth radar module 19 are installed on either side of the motorcycle body. The installation location of the first radar module can be seen in Figure 2 , the installation location of the second radar module can be seen in Figure 7 , and the installation locations of the third and fourth radar modules can be seen in Figure 17 . The functional logic and functional areas of each radar module have been described in the above embodiments and will not be repeated in this embodiment.

[0086] Refer to Figure 22. Each of the four radar modules utilizes a millimeter-wave radar. S1 represents the first radar module's detection area 161, S2 the second radar module's detection area 171, S3 the third radar module's detection area 181, and S4 the fourth radar module's detection area 191. With the vehicle as the center, the front detection range is up to 150 meters, the rear detection range is up to 50 meters, and the left and right detection ranges are up to 30 meters each. Each of the four radar modules performs real-time detection of the distance, relative speed, and orientation of targets within their respective detection areas. The main radar module (any of the four radar modules) fuses radar information from the remaining radar modules to determine the target's trajectory and speed, enabling detection of dangerous targets and collision risks around the vehicle. When the main radar module detects a collision risk within a 360-degree radius of the vehicle, it transmits this information to the control module, which triggers the early warning interaction module, which in turn outputs an alarm to alert the driver.

[0087] Optionally, the first radar module serves as the primary radar module, while the remaining radar modules transmit radar information to the primary radar module via the CAN bus. The primary radar module then fuses its own radar information with that of the remaining radar modules to generate control commands, which are then sent to the vehicle's instrument panel. This allows for the display of the motion trajectories of valid targets within a 360-degree range and provides warnings of dangerous targets. Compared to related technologies, this embodiment's assisted driving solution can display the dynamic point cloud of targets around the vehicle in real time.

[0088] Referring to Figure 23 , the assisted driving structure includes a sensor information processing layer 31, a vehicle information processing layer 32, and a gateway 33. The sensor information processing layer includes a first radar module 16, a second radar module 17, a third radar module 18, a fourth radar module 19, and a first communication unit 311. The vehicle information processing layer 32 includes a warning interaction module 323, a control module 322, and a second communication unit 321. One end of the first communication unit 311 and the second communication unit 321 are respectively connected to the gateway 33. The radar modules are mounted on the first communication unit 311, and the warning interaction module 323 and the control module 322 are mounted on the second communication unit 321. The first communication unit 311 and the second communication unit 321 can each utilize any of the following: a CAN bus, a CAN FD bus, or Ethernet. This embodiment uses the CAN bus as an example. Optionally, the warning interaction module includes the MMI & DASH, and the control modules include the BCM, IMU, T-BOX, ECM, and ABS. The MMI&DASH module can provide fault notifications, alarms, or pop-up notifications; the BCM can activate warning lights; the IMU can collect the vehicle's angular velocity and acceleration; the T-BOX can process remote information; the ECM can control the output of the vehicle's gear position, speed, torque, status, or acceleration signals; and the ABS can control the output of the vehicle's body inclination, pitch, or speed signals. The first radar module, serving as the master control module, receives target object information collected by the other radar modules, fuses and processes the target object information collected by itself and the other radar modules, generates control commands, and outputs these control commands to the vehicle information processing layer via the gateway. Based on these control commands, the vehicle information processing layer sends acceleration or deceleration signals to the ABS and ECM to control the motorcycle to maintain the set speed or following distance. It also controls the MMI&DASH module to output visual and / or audible warnings to warn the driver to avoid rear-end collisions with vehicles in front, behind, or to the left and right. It also controls the BCM to activate warning lights to warn vehicles behind to avoid collisions with the vehicle. Furthermore, the BCM can interact with user apps or remote devices via the T-BOX.

[0089] Referring to Figures 23 and 24, in the sensor information processing layer, each radar module includes two CAN interfaces, named the first CAN interface (R_CAN) and the second CAN interface (V_CAN). Each radar module's first CAN interface connects to the first CAN bus, and each radar module's second CAN interface connects to the second CAN bus. The four radar modules interact with each other via the first CAN bus. The first radar module, serving as the master radar module, receives radar information from the remaining radar modules via the first CAN bus. It then fuses its own radar information and that of the remaining radar modules, generating control commands. This control command and the fused information are then output via the gateway to the second CAN bus, reaching the vehicle information processing layer.

[0090] Optionally, the early warning interaction module also includes an audible and visual alarm device, and the second radar module also includes a driving circuit, which is connected to the audible and visual alarm device, wherein the audible and visual alarm device includes a buzzer, a left warning light, and a right warning light. In the vehicle information processing layer, the early warning interaction module includes MMI&DASH, and the control module includes BCM, IMU, T-BOX, ECM, and ABS. The early warning interaction module and each control module include a second CAN interface, which is connected to the second CAN bus. The BT (Boot Loader) and UDS (Unified Diagnostic Services) diagnosis of the early warning interaction module and each control module are all realized through the second CAN bus communication. Among them, MMI&DASH is used to realize fault prompts, alarm prompts, and pop-up reminders. Optionally, the warning interaction module also includes a brake light, and the BCM includes an acquisition circuit and a drive circuit. The acquisition circuit is connected to the switch of the steering assembly, and the drive circuit is connected to the brake light. The BCM is used to realize the drive of the rear collision warning alarm light and control the output of the steering switch signal, turn signal, brake switch signal and brake light signal. The IMU is used to measure the angular velocity and acceleration of the motorcycle. The ECM is used to control the output of the motorcycle's gear signal, speed signal, torque signal, status signal and acceleration signal. The ABS is used to control the output of the motorcycle's body inclination angle, pitch angle and vehicle speed signal.

[0091] In this embodiment, the four radar modules utilize a master-slave network architecture to exchange target detection data. They are integrated into the vehicle's distributed network architecture using a single node, enabling upload of radar target attribute information and system alarm display interaction via the vehicle bus. Compared to traditional, single-distributed CAN network topologies, this embodiment employs a hybrid of distributed and master-slave topologies. This reduces the risk of excessive load on the second CAN bus in the vehicle's information processing layer due to large amounts of data in the radar information processing layer. By integrating multiple radar modules for autonomous driving into a single node for interaction with the vehicle, the system can develop radar detection system functionality for existing vehicle models with minimal modifications, avoiding the unfavorable effects of increased CAN bus load, increased development tasks, and longer development cycles caused by added functionality. In this embodiment, several radar modules are developed from the same platform. For example, the second, third, and fourth radar modules are developed from the same platform. These modules are similar in appearance and difficult to distinguish. This can easily lead to installation errors during assembly and after-sales maintenance. If an installation error occurs, the radar modules will only operate according to their internal fixed programs. However, the internal programs and functional logic of the radar modules are related, which can lead to the risk of false alarms and missed alarms in functional areas. To address this issue, in this embodiment, the second, third, and fourth radar modules can be assembled according to the circuits shown in Figures 20 and 21. This embodiment will not be further described. Each time the radar module is powered on, it checks the consistency of the voltage level written to and detected by the first pin. If the written and detected voltage levels are inconsistent, the radar module outputs an assembly position error message. This effectively avoids the risk of false alarms and missed alarms in functional areas caused by incorrect assembly position of the radar module and enables autonomous identification of the radar module assembly position.

[0092] In this embodiment, the early warning interaction module is connected to one of the first, second, third, and fourth radar modules. By way of example and not limitation, in this embodiment, the second radar module is selected for connection to the early warning interaction module. Each radar module has a fault self-detection function. When the motorcycle is powered on and a fault occurs, each radar module transmits detected fault information via the first CAN bus and aggregates it to the second radar module. The second radar module then directly transmits an audible and visual alarm drive control signal to the early warning interaction module, which then outputs a fault prompt. Referring to Figure 25 , the early warning interaction module optionally includes warning lights, such as a first warning light L1 for the left rearview mirror and a second warning light L2 for the right rearview mirror. The second radar module 17 is connected to the first warning light L1 for the left rearview mirror and the second warning light L2 for the right rearview mirror. The second radar module 17 activates the warning lights according to the fault-lighting strategy. The flashing light provides users with fault status feedback and fault location analysis. Even if the control module associated with the second radar module 17 fails, it will not affect the radar module fault detection and diagnosis, without the need for any auxiliary equipment. Fault feedback and location are efficient and fast, with a simple design and no functional coupling. Optionally, the early warning interaction module also includes a buzzer L3. The second radar module 17 is connected to the buzzer L3, which can emit an audible alarm accompanied by the flashing warning light.

[0093] Referring to Figure 26 , the early warning interaction module optionally further includes an electronic display screen, which can be an electronic display screen of the MMI and / or BCM, embedded in the motorcycle's instrument panel or rearview mirror. The second radar module 17 drives the electronic display screen to display an alarm indicator based on the fault light activation strategy. The early warning interaction module also includes a third alarm light L4 connected to the BCM. See Table 1 for a table of fault light activation strategies for this embodiment.

[0094] Table 1 Fault driving strategy table

[0095] Among them, external faults of the radar module include the following items: (1) abnormal power supply, such as overvoltage or undervoltage; (2) blinding problem; (3) loss of communication node, including MMI, IMU, ABS / MSC, BCM; (4) external drive abnormality, such as no load or overload; (5) BusOff, CAN network disconnection; (6) radar module assembly position recognition error, vehicle wiring harness problem. Internal faults of the radar module include the following items: (1) hardware failure; (2) control unit temperature failure.

[0096] Traditional fault diagnosis models utilize multiple control modules coupled together to achieve fault display and alarm alerts, resulting in complex delivery, cumbersome design, and long development cycles. When an associated control module fails, normal alarm output cannot be achieved. Independent faults in a single radar module require specialized equipment for troubleshooting, making it unsuitable for rapid client-side troubleshooting and problem feedback. In this embodiment, the motorcycle's assisted driving functions include BSD, LCA, and RCW. The auxiliary alarm functions accompanying these assisted driving functions are independently controlled and driven by the corresponding radar modules, and integrate self-test and fault indicator functions. During power-on self-test and fault conditions, independent fault alarm indicator strategies are implemented for each radar module, with differentiated indicator control based on fault type. When a fault occurs, a specific flashing pattern of the fault indicator is used to quickly determine the fault type. This allows for rapid fault diagnosis without the need for specialized equipment, and even single-unit faults in the coupled functional units (MMI and BCM) will not affect the correct indication and location of the radar fault.

[0097] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0098] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A motorcycle, comprising: A main body, comprising a front portion and a rear portion, at least one riding area being arranged between the front portion and the rear portion, and at least one driver's seat cushion being arranged in the riding area; Wheels, including front wheels and rear wheels; A suspension system connected to the lower end of the main body, the suspension system comprising a front suspension and a rear suspension, the front wheel being connected to the main body via the front suspension, and the rear wheel being connected to the main body via the rear suspension; a power system, at least partially supported on the main body, for providing power for the operation of the motorcycle, at least one of the front wheel and the rear wheel being transmission-connected to the power system; A control system, used for controlling the operation of the motorcycle, the control system comprising a steering assembly, the steering assembly being arranged at the front of the main body, and the steering assembly comprising a handle; The motorcycle further comprises at least one radar module, and when the motorcycle is in a first preset state, the radar module can emit electromagnetic waves of a preset distance and a preset angle, and the preset distance and the preset angle are both matched with the motorcycle, and the radar module can collect information of target objects in a preset area based on the emitted electromagnetic waves, and the preset area is located in an area formed by the preset distance and the preset angle; wherein at least one of the radar modules is arranged at the front or rear of the motorcycle, the height of the center of the radar module from the reference plane is a first height, the height of the intersection of the axis of the handle and the outer end surface of the handle from the reference plane is a second height, the ratio of the first height to the second height is greater than or equal to 0.35 and less than or equal to 0.75, the height of the driver's seat cushion from the reference plane is a third height, and the ratio of the first height to the third height is greater than or equal to 0.4 and less than or equal to 1.1; The motorcycle also includes a control module and a warning interaction module, wherein the control module is respectively connected to the warning interaction module and at least one of the radar modules, and the control module can perform corresponding warning interactions on the drivers and passengers in the riding area according to the information of the target object collected by the radar module connected thereto.

2. The motorcycle according to claim 1, wherein: The radar module arranged at the front of the main body is defined as a first radar module, which is used to perform adaptive cruise control and front collision warning. The width of the preset areas corresponding to the adaptive cruise control and the front collision warning respectively does not exceed 2.5m in the left and right directions of the motorcycle.

3. The motorcycle according to claim 2, wherein: The radar module arranged at the rear of the main body is defined as a second radar module, which is used to perform blind spot detection and lane change assistance, the preset area of ​​the second radar module includes a first area and a second area, the first area corresponds to blind spot detection, the second area corresponds to lane change assistance, and the first area is closer to the motorcycle than the second area; wherein, If there is a target object in the first area, the second radar module performs an early warning; If there is a target object in the second area, and the ratio of the distance between the target object and the motorcycle and the relative speed between the two is lower than the time threshold, the second radar module performs an early warning.

4. The motorcycle according to claim 3, wherein: When the speed of the motorcycle exceeds a first threshold, the second radar module can determine whether there is a target object in the first area, and the radar module performs an early warning when there is a target object in the first area.

5. The motorcycle according to claim 4, wherein: When the speed of the motorcycle exceeds a second threshold, the second radar module can determine whether there is a target object in the second area, and execute an early warning when the ratio of the distance between the target object and the motorcycle and the relative speed between the two is lower than a time threshold.

6. The motorcycle according to claim 5, wherein: The first threshold does not exceed the second threshold, the first threshold is not less than 3 km / h and not more than 5 km / h, and the second threshold is not less than 10 km / h and not more than 20 km / h.

7. The motorcycle according to claim 3, wherein: The first area and the second area each include two sub-areas, and the two sub-areas of the first area and the second area are symmetrically distributed at the rear of the motorcycle.

8. The motorcycle according to claim 7, wherein: The motorcycle is also used to perform rear collision warning, and the preset area of ​​the second radar module also includes a third area, and the third area is located between two sub-areas of the first area; the steering assembly also includes a left handle and a right handle, and the width of the third area along the left and right directions of the motorcycle does not exceed 2.5m, and is not less than the width between the left handle and the right handle, wherein the width between the left handle and the right handle is the distance from the intersection of the axis of the left handle and the outer end surface of the left handle to the intersection of the axis of the right handle and the outer end surface of the right handle.

9. The motorcycle according to claim 3, wherein: The motorcycle also includes: A camera, arranged at the front of the main body; The control module is also connected to the camera. The control module obtains the type of the target object in front based on the image captured by the camera, and controls the distance between the motorcycle and the target object in front to be not less than a preset threshold according to the type of the target object in front and the information of the target object in front collected by the radar module.

10. The motorcycle according to claim 9, wherein: The motorcycle includes multiple following distance gears. When the control module determines that there is a target object based on the information of the front target object and determines that the type of the front target object is a motor vehicle, the control module selects a target following distance gear corresponding to the motor vehicle from the multiple following distance gears, and controls the motorcycle to travel with the target following distance gear.

11. The motorcycle according to claim 10, wherein: The motorcycle also includes: a sensor information processing layer, a vehicle information processing layer and a gateway, the sensor information processing layer includes a first communication unit, the vehicle information processing layer includes a second communication unit, the first communication unit and the second communication unit are connected through a gateway, the radar module is mounted on the first communication unit, and the control module and the early warning interaction module are mounted on the second communication unit.

12. The motorcycle according to claim 11, wherein: One of the radar modules is connected to the other radar modules as a main radar module, and the main radar module is also connected to the second communication unit.

13. The motorcycle according to claim 12, wherein: The main radar module can fuse the information of the target object collected by the other radar modules, and output the generated fusion information to the whole vehicle information processing layer through the gateway.

14. The motorcycle according to claim 13, wherein: The control module includes at least one of the following: anti-lock braking, engine control module, and body control module.

15. The motorcycle according to claim 14, wherein: At least one of the control modules is capable of responding to the fusion information, selecting a target following distance gear from the plurality of following distance gears, and controlling the motorcycle to travel at the target following distance gear; or, At least one of the control modules is capable of controlling the motorcycle to reduce speed or stop running in response to the fused information; or, At least one of the control modules can respond to the fusion information and control the warning interaction module to perform corresponding warning interactions on the drivers and passengers in the driving area.

16. The motorcycle according to claim 11, wherein: The first communication unit and the second communication unit respectively include one of the following: CAN bus, CANFD bus, Ethernet.

17. The motorcycle according to claim 3, wherein: The motorcycle further includes: a third radar module and a fourth radar module, which are respectively arranged on the left and right sides of the motorcycle and are used to perform cross traffic warning.

18. The motorcycle according to claim 17, wherein: At least one radar module includes a control unit, a detection unit and a preset pin, the control unit is connected to the detection unit, the detection unit can detect the level of the preset pin, and the control unit can determine the actual installation position of the radar module based on the level of the preset pin.

19. The motorcycle according to claim 18, wherein: The control unit is further used to compare whether the level of the preset pin is consistent with the preset level, and if it is determined that they are inconsistent, it is determined that the radar module is installed incorrectly.

20. The motorcycle according to claim 19, wherein: The motorcycle further includes a power module; the connection state of the preset pin includes one of the following: the preset pin is connected to the power module, the preset pin is grounded, and the preset pin is suspended.

21. The motorcycle according to claim 3, wherein: The motorcycle also includes: A detection module, arranged on the main body, for collecting the yaw angular velocity of the motorcycle; The second radar module is connected to the detection module, and the second radar module can adjust the preset area according to the yaw angular velocity and perform a warning task based on the adjusted preset area.

22. The motorcycle according to claim 21, wherein: The second radar module can calculate the curve radius of the motorcycle when it is traveling according to the yaw angular velocity, and adjust the preset area according to the calculated curve radius.

23. The motorcycle according to claim 22, wherein: When the curve radius calculated by the second radar module is less than the first threshold, the second radar module widens the pre-planned preset area, and performs the early warning task based on the widened preset area; When the curve radius calculated by the second radar module is not less than the first threshold, the second radar module performs the early warning task according to the pre-planned preset area.

24. The motorcycle according to claim 23, wherein: When the second radar module performs the early warning task and detects a target object, the second radar module triggers an alarm.

25. The motorcycle according to claim 24, wherein: The detection module is also used to collect the tilt angle of the motorcycle. When the second radar module determines that the tilt angle is greater than a third threshold, the second radar module turns off the alarm.

26. The motorcycle of claim 21, wherein: The detection module includes: a 6D gyroscope.

27. The motorcycle according to claim 3, wherein: The motorcycle also includes: a vibrating member installed below the driver's seat cushion, the control module is connected to the vibrating member, and when the speed of the motorcycle is greater than the driving speed, if the radar module detects that the distance of the target object from the motorcycle is less than the safety distance, the control module can control the vibrating member to start to vibrate the seat cushion.

28. The motorcycle according to claim 3, wherein: The motorcycle further comprises: an audible and visual alarm device connected to the second radar module, and the second radar module comprises a driving circuit for driving the audible and visual alarm device.

29. The motorcycle according to claim 3, wherein: The motorcycle further includes a taillight disposed above the rear wheel, and the second radar module is disposed in the center or below the taillight.

30. The motorcycle of claim 1, wherein: The early warning interaction module includes: a multimedia interaction system and an instrument control panel.

31. The motorcycle of claim 1, wherein: The radar module can determine whether to execute the early warning task according to the speed of the motorcycle, wherein the radar module executes the early warning task including: the radar module emits electromagnetic waves at a preset angle, and the preset angle matches the motorcycle, and the radar module collects information of target objects in a preset area based on the emitted electromagnetic waves, and the preset area is located in the area formed by the preset distance and the preset angle.

32. The motorcycle of claim 1, wherein: The information of the target object includes at least one of the following: the distance between the target object and the motorcycle, the speed of the target object, and the position of the target object.

33. A motorcycle, comprising: A main body, comprising a front portion and a rear portion, wherein at least one riding area is disposed between the front portion and the rear portion; Wheels, including front wheels and rear wheels; A suspension system connected to the lower end of the main body, the suspension system comprising a front suspension and a rear suspension, the front wheel being connected to the main body via the front suspension, and the rear wheel being connected to the main body via the rear suspension; a power system, at least partially supported on the main body, for providing power for the operation of the motorcycle, at least one of the front wheel and the rear wheel being transmission-connected to the power system; A control system for controlling the operation of the motorcycle, wherein the control system comprises a steering assembly, and the steering assembly is arranged at the front part of the main body; The motorcycle further comprises at least one radar module, which can emit electromagnetic waves of a preset distance and a preset angle when the motorcycle is in a first preset state, and the preset distance and the preset angle both match the motorcycle, and the radar module can collect information of target objects in a preset area based on the emitted electromagnetic waves, and the preset area is located in an area formed by the preset distance and the preset angle; wherein at least one radar module is arranged at the front or rear of the motorcycle, and the radar module arranged at the front of the motorcycle is located above the front wheel; The motorcycle also includes a control module and a warning interaction module, wherein the control module is respectively connected to the warning interaction module and at least one of the radar modules, and the control module can perform corresponding warning interactions on the drivers and passengers in the riding area according to the information of the target object collected by the radar module connected thereto.

34. The motorcycle according to claim 33, wherein: The radar module arranged at the front of the main body is defined as a first radar module, which is used to perform adaptive cruise control and front collision warning. The width of the preset areas corresponding to the adaptive cruise control and the front collision warning respectively does not exceed 2.5m in the left and right directions of the motorcycle.

35. The motorcycle of claim 34, wherein: The steering assembly includes a handle, the height of the center of the first radar module from a reference plane is a first height, the height of the intersection of the axis of the handle and the outer end surface of the handle from the reference plane is a second height, and the ratio of the first height to the second height is greater than or equal to 0.35 and less than or equal to 0.

75.

36. The motorcycle of claim 35, wherein: The driving area is provided with a driver's seat cushion, the height of the driver's seat cushion from the reference plane is a third height, and the ratio of the first height to the third height is greater than or equal to 0.4 and less than or equal to 1.

1.

37. The motorcycle of claim 34, wherein: The radar module arranged at the rear of the main body is defined as a second radar module, which is used to perform blind spot detection and lane change assistance, and the preset area of ​​the second radar module includes a first area and a second area, the first area corresponds to blind spot detection, the second area corresponds to lane change assistance, and the first area is closer to the motorcycle than the second area; wherein, If there is a target object in the first area, the second radar module performs an early warning; If there is a target object in the second area, and the ratio of the distance between the target object and the motorcycle and the relative speed between the two is lower than the time threshold, the second radar module performs an early warning.

38. The motorcycle of claim 37, wherein: When the speed of the motorcycle exceeds a first threshold, the second radar module can determine whether there is a target object in the first area, and the radar module performs an early warning when there is a target object in the first area.

39. The motorcycle of claim 38, wherein: When the speed of the motorcycle exceeds a second threshold, the second radar module can determine whether there is a target object in the second area, and execute an early warning when the ratio of the distance between the target object and the motorcycle and the relative speed between the two is lower than a time threshold.

40. The motorcycle of claim 39, wherein: The first threshold does not exceed the second threshold, the first threshold is not less than 3 km / h and not more than 5 km / h, and the second threshold is not less than 10 km / h and not more than 20 km / h.

41. The motorcycle of claim 37, wherein: The first area and the second area each include two sub-areas, and the two sub-areas of the first area and the second area are symmetrically distributed at the rear of the motorcycle.

42. The motorcycle of claim 41, wherein: The motorcycle is also used to perform rear collision warning, and the preset area of ​​the second radar module also includes a third area, and the third area is located between two sub-areas of the first area; the steering assembly also includes a left handle and a right handle, and the width of the third area along the left and right directions of the motorcycle does not exceed 2.5m, and is not less than the width between the left handle and the right handle, wherein the width between the left handle and the right handle is the distance from the intersection of the axis of the left handle and the outer end surface of the left handle to the intersection of the axis of the right handle and the outer end surface of the right handle.

43. The motorcycle of claim 42, wherein: The motorcycle further includes a tail light, and if there is a target object in the third area, the tail light is turned on.

44. The motorcycle of claim 37, wherein: The motorcycle also includes: A camera, arranged at the front of the main body; The control module is also connected to the camera. The control module obtains the type of the target object in front based on the image captured by the camera, and controls the distance between the motorcycle and the target object in front to be not less than a preset threshold according to the type of the target object in front and the information of the target object in front collected by the radar module.

45. The motorcycle of claim 44, wherein: The early warning interaction module can output a visual alarm and / or an audible alarm, and the camera includes an EIS anti-shake chip.

46. ​​The motorcycle of claim 45, wherein: The motorcycle includes multiple following distance gears. When the control module determines that there is a target object based on the information of the front target object and determines that the type of the front target object is a motor vehicle, the control module selects a target following distance gear corresponding to the motor vehicle from the multiple following distance gears, and controls the motorcycle to travel with the target following distance gear.

47. The motorcycle of claim 46, wherein: When the control module determines that there is a target object according to the information of the front target object and determines that the type of the front target object is a pedestrian or a non-motor vehicle, the control module controls the motorcycle to reduce speed or stop traveling.

48. The motorcycle of claim 46, wherein: The driving modes of the motorcycle include a first mode and a second mode, and the power output of the motorcycle in the second mode is not less than the power output in the first mode; when the control module detects that the motorcycle turns on the second mode, the control module turns off the adaptive cruise function, wherein the adaptive cruise function supports the motorcycle to travel at a preset following distance gear.

49. The motorcycle of claim 46, wherein: The motorcycle further includes: an inertial measurement unit connected to the control module and used for collecting a tilt angle of the motorcycle, and the control module turns off the radar module according to the tilt angle.

50. The motorcycle of claim 49, wherein: When the tilt angle is not less than a first threshold, the control module turns off the radar module.

51. The motorcycle of claim 49, wherein: When the tilt angle is greater than a second threshold and less than a first threshold, the control module prohibits opening a lowest following distance gear position among the multiple following distance gear positions.

52. The motorcycle of claim 37, wherein: The motorcycle also includes: a sensor information processing layer, a vehicle information processing layer and a gateway, the sensor information processing layer includes a first communication unit, the vehicle information processing layer includes a second communication unit, the first communication unit and the second communication unit are connected through a gateway, the radar module is mounted on the first communication unit, and the control module and the early warning interaction module are mounted on the second communication unit.

53. The motorcycle of claim 52, wherein: One of the radar modules is connected to the other radar modules as a main radar module, and the main radar module is also connected to the second communication unit.

54. The motorcycle of claim 53, wherein: The main radar module can fuse the information of the target object collected by the other radar modules, and output the generated fusion information to the whole vehicle information processing layer through the gateway.

55. The motorcycle of claim 37, wherein: The motorcycle further includes: a third radar module and a fourth radar module, which are respectively arranged on the left and right sides of the motorcycle and are used to perform cross traffic warning.

56. The motorcycle of claim 55, wherein: At least one radar module includes a control unit, a detection unit and a preset pin, the control unit is connected to the detection unit, the detection unit can detect the level of the preset pin, and the control unit can determine the actual installation position of the radar module based on the level of the preset pin.

57. The motorcycle of claim 56, wherein: The actual installation position includes one of the following: the front of the main body, the rear of the main body, the left side of the main body, and the right side of the main body.

58. The motorcycle of claim 56, wherein: The control unit is further used to compare whether the level of the preset pin is consistent with the preset level, and if it is determined that they are inconsistent, it is determined that the radar module is installed incorrectly.

59. The motorcycle of claim 56, wherein: The radar module further includes: a storage unit connected to the control unit and configured to store the preset level.

60. The motorcycle of claim 59, wherein: The storage unit also stores the location information of the radar module, where the location information includes a location code and internal coordinates.

61. The motorcycle of claim 59, wherein: When the control unit determines that the level of the preset pin is inconsistent with the preset level, the control unit updates the position information according to the actual installation position.

62. The motorcycle of claim 56, wherein: The motorcycle further includes a power module; the connection state of the preset pin includes one of the following: the preset pin is connected to the power module, the preset pin is grounded, and the preset pin is suspended.

63. The motorcycle of claim 56, wherein: The detection unit comprises: a high and low level detection circuit.

64. The motorcycle of claim 37, wherein: The motorcycle also includes: A detection module, arranged on the main body, for collecting the yaw angular velocity of the motorcycle; The second radar module is connected to the detection module, and the second radar module can adjust the preset area according to the yaw angular velocity and perform a warning task based on the adjusted preset area.

65. The motorcycle of claim 64, wherein: The second radar module can calculate the curve radius of the motorcycle when it is traveling according to the yaw angular velocity, and adjust the preset area according to the calculated curve radius.

66. The motorcycle of claim 65, wherein: When the curve radius calculated by the second radar module is less than the first threshold, the second radar module widens the pre-planned preset area, and performs the early warning task based on the widened preset area; When the curve radius calculated by the second radar module is not less than the first threshold, the second radar module performs the early warning task according to the pre-planned preset area.

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