Vehicle blind area monitoring control system and method based on Internet of Vehicles and vehicle

Abstract

The invention discloses a vehicle blind area monitoring control system and method based on the Internet of Vehicles and a vehicle, and the system comprises an image collection module, a laser radar module, an edge calculation unit, a communication module, a cloud platform and a vehicle-mounted controller, the included angle between the vehicle head and the connected trailer can be determined according to the included angle information calculated by the edge calculation unit and the steering wheel turning angle information acquired by the turning angle acquisition module, so that the vehicle-mounted controller can control the operation state of the blind area monitoring assembly of the vehicle according to the included angle. By combining the image acquisition module, the laser radar module and the Internet of Vehicles technology, the included angle between the vehicle head and the trailer can be accurately judged, so that the operation states of different blind area monitoring assemblies are accurately controlled according to the included angle, blind areas around the vehicle are effectively monitored, the limitation of single radar detection is overcome, and the detection accuracy is improved. Meanwhile, continuous operation of unnecessary blind area monitoring assemblies can be avoided, power consumption is reduced, the service life of a battery is prolonged, and the overall energy efficiency ratio of the vehicle is increased.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular to a vehicle blind spot monitoring control system, method and vehicle based on the Internet of Vehicles. Background Art

[0002] With the development of autonomous driving technology, the requirements for safety performance are also increasing day by day. In particular, the installation of a blind spot information system has become a basic requirement for vehicles. Its main purpose is to improve driving safety and reduce traffic accidents caused by the driver's line of sight blind spot by monitoring the blind spots around the vehicle, especially the side and rear areas of the vehicle.

[0003] In the prior art, generally, multiple radars installed on the vehicle rearview mirror or bumper are used to monitor obstacles near the vehicle to avoid collision accidents. However, on the one hand, the detection angle of the radar has certain limitations and cannot completely cover all areas around the vehicle, which may cause the blind spot information system function to fail to issue a warning in time, thus increasing the risk of collision. On the other hand, the simultaneous operation of multiple radars increases power consumption, resulting in a shortened battery life and affecting the overall energy efficiency ratio of the vehicle. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0005] To this end, one object of the present invention is to provide a vehicle blind spot monitoring control system based on the Internet of Vehicles. By combining an image acquisition module, a lidar module with the Internet of Vehicles technology, this system can accurately judge the angle between the vehicle head and the trailer, and thus accurately control the operating states of different blind spot monitoring components according to the angle, effectively monitor the blind spots around the vehicle, overcome the limitations of single radar detection, and at the same time avoid unnecessary continuous operation of the blind spot monitoring components, reduce power consumption, extend the battery service life, and improve the overall energy efficiency ratio of the vehicle.

[0006] To this end, a second object of the present invention is to provide a vehicle blind spot monitoring control method based on the Internet of Vehicles.

[0007] To this end, a third object of the present invention is to provide a vehicle.

[0008] To this end, a fourth object of the present invention is to provide a computer-readable storage medium.

[0009] To achieve the above object, an embodiment of the first aspect of the present invention provides a vehicle blind spot monitoring and control system based on the vehicle networking. The system includes: an image acquisition module disposed on one or both sides of the road for acquiring image information of a vehicle traveling on the road, and obtaining first steering attitude information of the vehicle and first angle information between the vehicle head and a connected trailer based on the image information; a lidar module disposed on one or both sides of the road for obtaining second steering attitude information of the vehicle and second angle information between the vehicle head and the connected trailer; an edge computing unit for determining included angle information between the vehicle head and the connected trailer according to the first steering attitude information, the first angle information, the second steering attitude information, and the second angle information, and transmitting the included angle information to a cloud platform through a communication module; a steering angle acquisition module for acquiring steering wheel angle information of the vehicle and transmitting the steering wheel angle information to the cloud platform through the communication module; the communication module for realizing data transmission between the steering angle acquisition module, the cloud platform, an in-vehicle controller, and the edge computing unit; the cloud platform for determining the included angle between the vehicle head and the connected trailer according to the included angle information and the steering wheel angle information, and transmitting the included angle to the in-vehicle controller through the communication module; the in-vehicle controller for controlling the operating state of a blind spot monitoring component of the vehicle according to the included angle, and the blind spot monitoring component for monitoring a blind spot of the vehicle.

[0010] According to the vehicle blind spot monitoring and control system based on the vehicle networking of the embodiment of the present invention, by combining the image acquisition module and the lidar module with the vehicle networking technology, the included angle between the vehicle head and the trailer can be accurately judged, so that the operating states of different blind spot monitoring components can be accurately controlled according to the included angle, effectively monitoring the blind spots around the vehicle, overcoming the limitations of single radar detection, and at the same time, unnecessary continuous operation of the blind spot monitoring components can be avoided, reducing power consumption, prolonging the battery service life, and improving the overall energy efficiency ratio of the vehicle.

[0011] In addition, the vehicle blind spot monitoring and control system based on the vehicle networking of the embodiment of the present invention may further have the following additional technical features: In some examples, the blind spot monitoring component includes: a forward millimeter-wave radar disposed inside the side of the vehicle head. When controlling the operating state of the blind spot monitoring component of the vehicle according to the included angle, the in-vehicle controller is configured to: when the included angle is equal to a first preset angle, wake up the forward millimeter-wave radar, and move the forward millimeter-wave radar from inside the side of the vehicle head to outside the side of the vehicle head to obtain side blind spot information of the vehicle.

[0012] In some examples, the blind spot monitoring component further includes: a rear millimeter-wave radar, which is disposed inside the side surface of the connected trailer. When controlling the operating state of the vehicle's blind spot monitoring component according to the included angle, the vehicle-mounted controller is configured to: when the included angle reaches a second preset angle and does not reach a first preset angle, wake up the front millimeter-wave radar and the rear millimeter-wave radar, move the front millimeter-wave radar from inside the side surface of the vehicle head to outside the side surface of the vehicle head, and move the rear millimeter-wave radar from inside the side surface of the connected trailer to outside the side surface of the connected trailer, so as to obtain the side blind spot information of the vehicle.

[0013] In some examples, the blind spot monitoring component further includes: a camera, which is disposed inside the side surface of the connected trailer. When controlling the operating state of the vehicle's blind spot monitoring component according to the included angle, the vehicle-mounted controller is further configured to: when the included angle does not reach the second preset angle, wake up the front millimeter-wave radar, the rear millimeter-wave radar, and the camera, move the front millimeter-wave radar from inside the side surface of the vehicle head to outside the side surface of the vehicle head, and move the rear millimeter-wave radar and the camera from inside the side surface of the connected trailer to outside the side surface of the connected trailer, so as to obtain the side blind spot information of the vehicle.

[0014] In some examples, the communication module includes: a roadside unit and a vehicle-mounted unit; the roadside unit is disposed on one or both sides of the road, and is configured to transmit the steering wheel angle information to the cloud platform and transmit the included angle to the vehicle-mounted unit; the vehicle-mounted unit is disposed at the bottom of the connected trailer and is configured to transmit the included angle to the vehicle-mounted controller.

[0015] In some examples, the vehicle blind spot monitoring and control system based on the vehicle networking further includes: a blind spot monitoring controller, which is configured to receive the side blind spot information and determine the obstacle information in the blind spot according to the side blind spot information.

[0016] In some examples, the vehicle blind spot monitoring and control system based on the vehicle networking further includes: a blind spot warning device, which is configured to receive the obstacle information and issue a warning signal according to the obstacle information.

[0017] To achieve the above object, an embodiment of the second aspect of the present invention provides a vehicle blind spot monitoring and control method based on vehicle networking. The vehicle blind spot monitoring and control method based on vehicle networking includes the following steps: obtaining first steering attitude information, second steering attitude information, first angle information and second angle information between the vehicle head and the connected trailer of the vehicle, and steering wheel rotation angle information of the vehicle; determining included angle information between the vehicle head and the connected trailer according to the first steering attitude information, the second steering attitude information, the first angle information, and the second angle information; determining an included angle between the vehicle head and the connected trailer according to the included angle information and the steering wheel rotation angle information; and controlling an operating state of a blind spot monitoring component of the vehicle according to the included angle, where the blind spot monitoring component is used to monitor a blind spot of the vehicle.

[0018] According to the vehicle blind spot monitoring and control method based on vehicle networking of the present invention, by combining an image acquisition module, a lidar module with vehicle networking technology, the included angle between the vehicle head and the trailer can be accurately judged, so that the operating states of different blind spot monitoring components can be accurately controlled according to the included angle, effectively monitoring the blind spots around the vehicle, overcoming the limitations of single radar detection, and at the same time, unnecessary continuous operation of the blind spot monitoring components can be avoided, reducing power consumption, prolonging the battery service life, and improving the overall energy efficiency ratio of the vehicle.

[0019] To achieve the above object, an embodiment of the third aspect of the present invention discloses a vehicle, which includes: the vehicle blind spot monitoring and control system based on vehicle networking according to the embodiment of the first aspect of the present invention; or, a processor, a memory, and a vehicle blind spot monitoring and control program stored on the memory and executable on the processor, where when the vehicle blind spot monitoring and control program is executed by the processor, it implements the vehicle blind spot monitoring and control method according to the embodiment of the second aspect of the present invention.

[0020] According to the vehicle of the embodiment of the present invention, by combining an image acquisition module, a lidar module with vehicle networking technology, the included angle between the vehicle head and the trailer can be accurately judged, so that the operating states of different blind spot monitoring components can be accurately controlled according to the included angle, effectively monitoring the blind spots around the vehicle, overcoming the limitations of single radar detection, and at the same time, unnecessary continuous operation of the blind spot monitoring components can be avoided, reducing power consumption, prolonging the battery service life, and improving the overall energy efficiency ratio of the vehicle.

[0021] To achieve the above object, an embodiment of the fourth aspect of the present invention discloses a computer-readable storage medium, on which a vehicle blind spot monitoring and control program based on vehicle networking is stored, and when the vehicle blind spot monitoring and control program is executed by a processor, it implements the vehicle blind spot monitoring and control method according to the embodiment of the second aspect of the present invention.

[0022] A computer-readable storage medium according to an embodiment of the present invention, when a vehicle blind spot monitoring and control program based on the vehicle networking stored thereon is executed by a processor, can accurately determine the angle between the vehicle head and the trailer by combining an image acquisition module, a lidar module and vehicle networking technology, so as to accurately control the operating states of different blind spot monitoring components according to the angle, effectively monitor the blind spots around the vehicle, overcome the limitations of single radar detection, and at the same time can avoid unnecessary continuous operation of the blind spot monitoring components, reduce power consumption, extend the battery service life, and improve the overall energy efficiency ratio of the vehicle.

[0023] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and / or additional aspects and advantages of the present invention will become apparent and be readily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1 is a schematic structural diagram of a vehicle blind spot monitoring and control system based on vehicle networking according to an embodiment of the present invention; Figure 2 is a schematic structural diagram when the vehicle is driving straight according to an embodiment of the present invention; Figure 3 is a schematic structural diagram when the vehicle is turning according to an embodiment of the present invention; Figure 4 is a schematic structural diagram when the vehicle is turning according to another embodiment of the present invention; Figure 5 is a schematic flow diagram of a vehicle blind spot monitoring and control method based on vehicle networking according to an embodiment of the present invention.

[0025] REFERENCE SIGNS: Vehicle blind spot monitoring and control system based on vehicle networking - 100; Image acquisition module - 110; Lidar module - 120; Edge computing unit - 130; Corner acquisition module - 140; Communication module - 150; Cloud platform - 160; Vehicle-mounted controller - 170. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] In order to be able to understand the features and technical content of the embodiments of the present invention in more detail, the implementation of the embodiments of the present invention will be described in detail below in conjunction with the drawings. The attached drawings are for reference and illustration only, and are not used to limit the embodiments of the present invention. In the following technical description, for the sake of explanation, numerous details are provided to give a full understanding of the disclosed embodiments. However, one or more embodiments may still be implemented without these details. In other cases, well-known structures and devices may be shown in a simplified manner to simplify the drawings.

[0027] The following will refer to Figures 1 - 5 describe a vehicle blind spot monitoring control system and method based on the Internet of Vehicles according to an embodiment of the present invention.

[0028] Figure 1 FIG. is a schematic structural diagram of a vehicle blind spot monitoring control system 100 based on the Internet of Vehicles according to an embodiment of the present invention. The vehicle blind spot monitoring control system 100 based on the Internet of Vehicles includes: an image acquisition module 110, a lidar module 120, an edge computing unit 130, a corner acquisition module 140, a communication module 150, a cloud platform 160, and a vehicle-mounted controller 170. Among them, The image acquisition module 110 is arranged on one side or both sides of the road and is used to acquire image information of vehicles driving on the road, and obtain the first steering attitude information of the vehicle and the first angle information between the vehicle head and the connected trailer based on the image information.

[0029] Specifically, the image acquisition module 110 in the vehicle blind spot monitoring control system 100 based on the Internet of Vehicles is arranged above the roadside poles on one side or both sides of the road, and is responsible for capturing the image information of vehicles on the road in real time. Among them, the image acquisition module 110 includes but is not limited to a high-definition data acquisition sensor (such as a high-definition camera), and can obtain the dynamic images during the vehicle driving process by continuous shooting or video stream. Further, it can be based on the acquired image information to identify whether the vehicle turns on the turn signal and the change of the steering attitude of the vehicle, that is, the first steering attitude information of the vehicle. At the same time, it can also determine the relative angle (the included angle between line A and line B) between the vehicle head and the connected trailer based on the image information, that is, the first angle information.

[0030] The lidar module 120 is arranged on one side or both sides of the road and is used to obtain the second steering attitude information of the vehicle and the second angle information between the vehicle head and the connected trailer.

[0031] Specifically, the lidar module 120 in the vehicle blind spot monitoring control system 100 based on the Internet of Vehicles is also arranged above the roadside poles on one side or both sides of the road. It can adopt the method of mechanical rotation data to collect the information of vehicles driving on the road all-weather in 360 degrees, including the second steering attitude information of the vehicle and the second angle information between the vehicle head and the connected trailer. For example, the lidar can construct a three-dimensional model of the vehicle according to the returned data, and then identify the steering attitude information and angle information of the vehicle according to the three-dimensional model.

[0032] The edge computing unit 130 is configured to determine the included angle information between the vehicle head and the connected trailer based on the first steering attitude information, the first angle information, the second steering attitude information, and the second angle information, and transmit the included angle information to the cloud platform 160 through the communication module 150.

[0033] Specifically, the edge computing unit 130 in the vehicle blind spot monitoring control system 100 based on the vehicle Internet of Things can fuse the data from the image acquisition module 110 and the lidar module 120 (the first steering attitude information, the first angle information, the second steering attitude information, and the second angle information), including but not limited to using a transformer model to combine 2D image data with 3D lidar data, so as to accurately obtain the included angle information between the vehicle head and the connected trailer according to the combined data. Further, after obtaining the included angle information, the edge computing unit 130 can transmit the included angle information to the cloud platform 160 in real time through the communication module 150.

[0034] The steering angle acquisition module 140 is configured to acquire the steering wheel angle information of the vehicle and transmit the steering wheel angle information to the cloud platform 160 through the communication module 150.

[0035] Specifically, the vehicle blind spot monitoring control system 100 based on the vehicle Internet of Things is also provided with a steering angle acquisition module 140, including but not limited to being arranged at the vehicle head position, which can acquire the steering wheel information of the vehicle in real time, including the rotation angle, rotation speed, and rotation direction of the steering wheel, etc., so as to determine the steering wheel angle information of the vehicle according to the steering wheel information. Further, after obtaining the steering wheel angle information, the steering angle acquisition module 140 can transmit the steering wheel angle information to the cloud platform 160 in real time through the communication module 150.

[0036] The communication module 150 is configured to realize data transmission between the steering angle acquisition module 140, the cloud platform 160, the vehicle-mounted controller 170, and the edge computing unit 130.

[0037] Specifically, the vehicle blind spot monitoring control system 100 based on the vehicle Internet of Things is also provided with a communication module 150, which is used to establish and maintain communication links between various components and realize real-time data transmission between the steering angle acquisition module 140, the cloud platform 160, the vehicle-mounted controller 170, and the edge computing unit 130. It can be understood that the communication module 150 can not only send the data on the vehicle (such as the steering wheel angle information, etc.) and the data on the road side (such as the included angle information between the vehicle head and the connected trailer, etc.) to the cloud platform 160, but also receive the instruction information sent from the cloud platform 160, so as to realize two-way communication between different ports.

[0038] The cloud platform 160 is used to determine the angle between the vehicle head and the connected trailer according to the included angle information and the steering wheel rotation angle information, and transmit the included angle to the vehicle-mounted controller 170 through the communication module 150.

[0039] Specifically, in the vehicle blind spot monitoring and control system 100 based on the vehicle network, there is also a cloud platform 160. It can receive the steering wheel rotation angle information from the rotation angle acquisition module 140 and the included angle information from the edge computing unit 130 through the communication module 150, and use a preset algorithm and model to fuse and process the received data, so as to accurately determine the actual included angle between the vehicle head and the connected trailer. Further, after obtaining the included angle, the cloud platform 160 can transmit the included angle to the vehicle-mounted controller 170 in real time through the communication module 150.

[0040] The vehicle-mounted controller 170 is used to control the operating state of the vehicle blind spot monitoring components according to the included angle, and the blind spot monitoring components are used to monitor the blind spots of the vehicle.

[0041] Specifically, in the vehicle blind spot monitoring and control system 100 based on the vehicle network, there is a vehicle-mounted controller 170. It can receive the actual included angle between the vehicle head and the connected trailer in real time through the communication module 150, so as to control the operating state of the vehicle blind spot monitoring components according to the included angle, including flexibly starting or closing different blind spot monitoring components to achieve real-time monitoring of different blind spots. For example, when the vehicle is driving straight, only the blind spot monitoring components at the front end of the vehicle can be turned on to monitor the side blind spots, while in the case of turning, it may be necessary to simultaneously enable the blind spot monitoring components at the front end and the side end of the vehicle to cover a wider area.

[0042] Therefore, the above-mentioned vehicle blind spot monitoring and control system 100 based on the vehicle network can accurately judge the included angle between the vehicle head and the trailer by combining the image acquisition module 110 and the lidar module 120 with the vehicle network technology, and thus accurately control the operating state of different blind spot monitoring components according to the included angle, effectively monitor the blind spots around the vehicle, overcome the limitations of single radar detection, and at the same time can avoid unnecessary continuous operation of the blind spot monitoring components, reduce power consumption, extend the battery life, and improve the overall energy efficiency ratio of the vehicle.

[0043] In an embodiment of the present invention, the blind spot monitoring components include: a forward millimeter-wave radar, which is arranged inside the side of the vehicle head. When controlling the operating state of the vehicle blind spot monitoring components according to the included angle, the vehicle-mounted controller 170 is used to: when the included angle is equal to the first preset angle, wake up the forward millimeter-wave radar and move the forward millimeter-wave radar from the inside of the side of the vehicle head to the outside of the side of the vehicle head to obtain the side blind spot information of the vehicle.

[0044] Specifically, combined with Figure 2As shown, the blind spot monitoring component includes a forward millimeter-wave radar installed inside the side of the vehicle head. When the vehicle is moving straight, it can comprehensively monitor the blind spots on the sides of the vehicle, including measuring information such as the distance and angle of pedestrians, vehicles, and obstacles in the side blind spots.

[0045] Specifically, when controlling the operating state of the vehicle's blind spot monitoring component according to the included angle, if the included angle between the vehicle head and the connected trailer is equal to 180 degrees (the included angle between line A and line B), that is, the first preset angle, it indicates that the vehicle is currently in a straight driving state. At this time, the vehicle-mounted controller 170 can send a command to the radar network control system to wake up the forward millimeter-wave radar alone, and start the mechanical or electric mechanism to move the forward millimeter-wave radar from the inside of the side of the vehicle head to the working position outside the side to scan the blind spots on the sides of the vehicle and collect information about the surrounding environment, including identifying possible obstacles such as pedestrians, bicycles, or other vehicles.

[0046] In an embodiment of the present invention, the blind spot monitoring component further includes: a rearward millimeter-wave radar, which is installed inside the side of the connected trailer. When controlling the operating state of the vehicle's blind spot monitoring component according to the included angle, the vehicle-mounted controller 170 is used to: when the included angle reaches the second preset angle and does not reach the first preset angle, wake up the forward millimeter-wave radar and the rearward millimeter-wave radar, move the forward millimeter-wave radar from the inside of the side of the vehicle head to the outside of the side of the vehicle head, and move the rearward millimeter-wave radar from the inside of the side of the connected trailer to the outside of the side of the connected trailer to obtain the side blind spot information of the vehicle.

[0047] Specifically, in combination with Figure 3 As shown, the blind spot monitoring component includes a rearward millimeter-wave radar installed inside the side of the connected trailer. When the vehicle is turning, it can cooperate with the forward millimeter-wave radar to comprehensively monitor the blind spots on the sides of the vehicle, including measuring information such as the distance and angle of pedestrians, vehicles, and obstacles in the side blind spots.

[0048] Specifically, when controlling the operating state of the vehicle's blind spot monitoring component according to the included angle, if the included angle between the vehicle head and the connected trailer reaches 150 degrees but does not reach 180 degrees, that is, when the included angle reaches the second preset angle and does not reach the first preset angle (the included angle between line A and line B), it indicates that the vehicle is currently in a turning driving state and there is a certain angle between the vehicle head and the connected trailer. At this time, the vehicle-mounted controller 170 can send a command to the radar network control system, wake up the front millimeter-wave radar and the rear millimeter-wave radar at the same time, and start the mechanical or electric mechanism to move the front millimeter-wave radar from the inside of the side of the vehicle head to the outside of the side working position, and move the rear millimeter-wave radar from the inside of the side of the connected trailer to the outside of the side working position, so as to scan the blind spot on the side of the vehicle and collect information about the surrounding environment, including identifying possible obstacles such as pedestrians, bicycles or other vehicles. It can be understood that when the included angle reaches the second preset angle and does not reach the first preset angle, using dual radars to monitor the side blind spot at the same time can avoid the occurrence of the reflection misjudgment phenomenon of the single radar on the metal body when the vehicle head and the connected trailer form a large angle during the vehicle driving process, play a role in redundant judgment and make up for the blind spot, thereby improving the accuracy of the vehicle's blind spot monitoring and further improving the driving safety of the vehicle.

[0049] In an embodiment of the present invention, the blind spot monitoring component further includes: a camera, which is arranged inside the side of the connected trailer. When controlling the operating state of the vehicle's blind spot monitoring component according to the included angle, the vehicle-mounted controller 170 is further configured to: when the included angle does not reach the second preset angle, wake up the front millimeter-wave radar, the rear millimeter-wave radar and the camera, move the front millimeter-wave radar from the inside of the side of the vehicle head to the outside of the side of the vehicle head, and move the rear millimeter-wave radar and the camera from the inside of the side of the connected trailer to the outside of the side of the connected trailer, so as to obtain the side blind spot information of the vehicle.

[0050] Specifically, in combination with Figure 4 As shown, the blind spot monitoring component includes a camera arranged inside the side of the connected trailer, which can cooperate with the front millimeter-wave radar and the rear millimeter-wave radar to achieve comprehensive monitoring of the side blind spot of the vehicle when the vehicle is turning, including measuring information such as the distance and angle of pedestrians, vehicles and obstacles in the side blind spot.

[0051] Specifically, when controlling the operating state of the vehicle's blind spot monitoring component according to the included angle, if the included angle between the vehicle head and the connected trailer does not reach 150 degrees (the included angle between line A and line B), that is, when the included angle does not reach the second preset angle, it indicates that the vehicle is currently in a turning driving state and the turning amplitude of the vehicle is relatively large. At this time, the vehicle-mounted controller 170 can send an instruction to the radar network control system, wake up the front millimeter-wave radar, the rear millimeter-wave radar, and the camera at the same time, and start the mechanical or electric mechanism to move the front millimeter-wave radar from the inside of the vehicle head to the working position outside the side, and move the rear millimeter-wave radar and the camera from the inside of the connected trailer to the working position outside the side to scan the blind spot on the side of the vehicle and collect information about the surrounding environment, including identifying possible obstacles such as pedestrians, bicycles, or other vehicles. It can be understood that when the included angle does not reach the second preset angle, using both the dual radars and the camera to monitor the side blind spot at the same time can avoid the occurrence of the phenomenon of mutual interference and reflection misjudgment between the dual radars when the vehicle head and the vehicle body form a small angle during the vehicle driving process, play the role of visual redundancy judgment and blind spot compensation, thereby improving the accuracy of the vehicle's blind spot monitoring and further improving the driving safety of the vehicle.

[0052] In an embodiment of the present invention, the communication module 150 includes: a roadside unit and a vehicle-mounted unit; the roadside unit is arranged on one or both sides of the road and is used to transmit the steering wheel angle information to the cloud platform 160 and transmit the included angle to the vehicle-mounted unit; the vehicle-mounted unit is arranged at the bottom of the connected trailer and is used to transmit the included angle to the vehicle-mounted controller 170.

[0053] Specifically, the communication module 150 includes a roadside unit and a vehicle-mounted unit. By the joint work of the two units, data exchange between the vehicle and the road end and the cloud is realized. Among them, the roadside unit is usually arranged on one or both sides of the road, such as on traffic signal poles, street light poles or other infrastructures, and can receive the steering wheel angle information from the vehicle end (steering acquisition module) and transmit it to the cloud platform 160. At the same time, the roadside unit can also transmit the included angle received from the cloud platform 160 to the vehicle-mounted unit; while the vehicle-mounted unit is usually installed at the bottom of the connected trailer. When the vehicle-mounted unit receives the included angle transmitted by the roadside unit, it can transmit the included angle to the vehicle-mounted controller 170 so that the vehicle-mounted controller 170 can adjust the working state of the blind spot monitoring component according to the included angle.

[0054] In an embodiment of the present invention, the vehicle blind spot monitoring control system 100 based on the vehicle Internet of Things further includes: a blind spot monitoring controller, and the blind spot detection controller is used to receive the side blind spot information and determine the obstacle information in the blind spot according to the side blind spot information.

[0055] Specifically, a blind spot monitoring controller is also provided in the vehicle blind spot monitoring control system 100 based on the vehicle networking. It is usually arranged at the bottom of the vehicle body connecting the trailer and can obtain side blind spot information from multiple sensors, including but not limited to forward millimeter-wave radar, rearward millimeter-wave radar, and side cameras. Further, after receiving the side blind spot information, the side blind spot information can be processed and analyzed based on a preset model algorithm to determine the obstacle information in the blind spot, including the type of obstacle (such as vehicle, pedestrian, bicycle, etc.), specific position, relative distance from the vehicle, relative speed, and potential collision risk, etc.

[0056] In an embodiment of the present invention, the vehicle blind spot monitoring control system 100 based on the vehicle networking further includes: a blind spot warning device, which is used to receive the obstacle information and issue a warning signal according to the obstacle information.

[0057] Specifically, a blind spot warning device is also provided in the vehicle blind spot monitoring control system 100 based on the vehicle networking. It is usually installed in the vehicle cockpit, and the installation positions include but are not limited to the instrument panel, A-pillars (on both sides near the windshield), rearview mirrors, etc. It can receive the obstacle information from the blind spot monitoring controller, such as the distance, speed, size, and classification of the obstacle (such as pedestrian, bicycle, other vehicle), etc. Further, the obstacle information can be analyzed and processed to issue a warning signal according to the obstacle information. For example, if it is detected that the obstacle is within a dangerous distance or has a potential collision risk, a warning signal can be issued. Among them, the warning signal can be issued in various ways, including sound alarm, visual alarm (such as indicator light flashing), vibration alarm, etc.

[0058] In summary, according to the vehicle blind spot monitoring control system 100 based on the vehicle networking in the embodiment of the present invention, by combining the image acquisition module 110 and the lidar module 120 with the vehicle networking technology, the included angle between the vehicle head and the trailer can be accurately judged, and thus the operating states of different blind spot monitoring components can be accurately controlled according to the included angle, effectively monitoring the blind spots around the vehicle, overcoming the limitations of single radar detection, and at the same time avoiding unnecessary continuous operation of the blind spot monitoring components, reducing power consumption, prolonging the battery service life, and improving the overall energy efficiency ratio of the vehicle. Further, by accurately controlling different blind spot monitoring components to monitor the side blind spots according to the included angle, it is possible to avoid the occurrence of the phenomenon of mutual interference and reflection misjudgment between the two radars when the vehicle head and the vehicle body form a small angle during the vehicle driving process, playing a role in visual redundancy judgment and compensating for blind spots, thereby improving the accuracy of the vehicle's blind spot monitoring and further improving the driving safety of the vehicle.

[0059] A further embodiment of the present invention proposes a vehicle blind spot monitoring control method based on the vehicle networking, as Figure 5As shown, the vehicle blind spot monitoring and control method based on the vehicle networking includes the following steps: Step S1: Obtain the first steering attitude information, second steering attitude information, first angle information and second angle information between the vehicle head and the connected trailer, and the steering wheel rotation angle information of the vehicle.

[0060] Step S2: Determine the included angle information between the vehicle head and the connected trailer according to the first steering attitude information, second steering attitude information, first angle information, and second angle information.

[0061] Step S3: Determine the included angle between the vehicle head and the connected trailer according to the included angle information and the steering wheel rotation angle information.

[0062] Step S4: Control the operating state of the vehicle blind spot monitoring component according to the included angle, where the blind spot monitoring component is used to monitor the blind spot of the vehicle.

[0063] In some embodiments, the blind spot monitoring component includes: a forward millimeter-wave radar, which is arranged inside the side of the vehicle head. Controlling the operating state of the vehicle blind spot monitoring component according to the included angle includes: when the included angle is equal to the first preset angle, waking up the forward millimeter-wave radar and moving the forward millimeter-wave radar from the inside of the side of the vehicle head to the outside of the side of the vehicle head to obtain the side blind spot information of the vehicle.

[0064] In some embodiments, the blind spot monitoring component further includes: a rearward millimeter-wave radar, which is arranged inside the side of the connected trailer. Controlling the operating state of the vehicle blind spot monitoring component according to the included angle includes: when the included angle reaches the second preset angle and does not reach the first preset angle, waking up the forward millimeter-wave radar and the rearward millimeter-wave radar, moving the forward millimeter-wave radar from the inside of the side of the vehicle head to the outside of the side of the vehicle head, and moving the rearward millimeter-wave radar from the inside of the side of the connected trailer to the outside of the side of the connected trailer to obtain the side blind spot information of the vehicle.

[0065] In some embodiments, the blind spot monitoring component further includes: a camera, which is arranged inside the side of the connected trailer. Controlling the operating state of the vehicle blind spot monitoring component according to the included angle includes: when the included angle does not reach the second preset angle, waking up the forward millimeter-wave radar, the rearward millimeter-wave radar and the camera, moving the forward millimeter-wave radar from the inside of the side of the vehicle head to the outside of the side of the vehicle head, and moving the rearward millimeter-wave radar and the camera from the inside of the side of the connected trailer to the outside of the side of the connected trailer to obtain the side blind spot information of the vehicle.

[0066] In some embodiments, the communication module includes: a roadside unit and a vehicle-mounted unit; the roadside unit is arranged on one or both sides of the road, and is configured to transmit the steering wheel angle information to the cloud platform and transmit the included angle to the vehicle-mounted unit; the vehicle-mounted unit is arranged at the bottom of the trailer connection and is configured to transmit the included angle to the vehicle-mounted controller.

[0067] In some embodiments, the vehicle blind spot monitoring and control method based on the vehicle network further includes: receiving the side blind spot information and determining the obstacle information in the blind spot according to the side blind spot information.

[0068] In some embodiments, the vehicle blind spot monitoring and control method based on the vehicle network further includes: receiving the obstacle information and sending out a warning signal according to the obstacle information.

[0069] According to the vehicle blind spot monitoring and control method based on the vehicle network of the present invention, by combining the image acquisition module and the lidar module with the vehicle network technology, the included angle between the vehicle head and the trailer can be accurately judged, so that the operating states of different blind spot monitoring components can be accurately controlled according to the included angle, effectively monitoring the blind spots around the vehicle, overcoming the limitations of single radar detection, and at the same time, unnecessary continuous operation of the blind spot monitoring components can be avoided, reducing power consumption, prolonging the battery service life, and improving the overall energy efficiency ratio of the vehicle. Further, by accurately controlling different blind spot monitoring components to monitor the side blind spots according to the included angle, the occurrence of the phenomenon of small angle formed between the vehicle head and the vehicle body during vehicle driving, and the interference and reflection misjudgment of the dual radars can be avoided, playing a role in visual redundancy judgment and blind spot compensation, thereby improving the accuracy of vehicle blind spot monitoring and further improving the driving safety of the vehicle.

[0070] To achieve the above object, a third aspect embodiment of the present invention discloses a vehicle, which includes: the vehicle blind spot monitoring and control system based on the vehicle network according to the first aspect embodiment of the present invention; or, a processor, a memory, and a vehicle blind spot monitoring and control program stored on the memory and executable on the processor, and when the vehicle blind spot monitoring and control program is executed by the processor, it implements the vehicle blind spot monitoring and control method based on the vehicle network according to the second aspect embodiment of the present invention.

[0071] A vehicle according to an embodiment of the present invention can accurately determine the angle between the vehicle head and the trailer by combining an image acquisition module, a lidar module, and vehicle networking technology. Thus, the operating states of different blind spot monitoring components can be accurately controlled according to the angle, effectively monitoring the blind spots around the vehicle, overcoming the limitations of single radar detection. At the same time, unnecessary continuous operation of the blind spot monitoring components can be avoided, reducing power consumption, extending the battery service life, and improving the overall energy efficiency ratio of the vehicle. Further, by accurately controlling different blind spot monitoring components to monitor the side blind spots according to the angle, it is possible to avoid the occurrence of the vehicle head and the vehicle body forming a small angle during vehicle driving, and the double radar generating interference in the opposite direction and reflection misjudgment phenomena, playing the role of visual redundancy judgment and compensating for blind spots. Thus, the accuracy of the vehicle's blind spot monitoring can be improved, and further the driving safety of the vehicle can be improved.

[0072] To achieve the above object, an embodiment of the fourth aspect of the present invention discloses a computer-readable storage medium. A vehicle blind spot monitoring and control program based on vehicle networking is stored on the computer-readable storage medium. When the vehicle blind spot monitoring and control program based on vehicle networking is executed by a processor, it implements the vehicle blind spot monitoring and control method based on vehicle networking as in the embodiment of the second aspect of the present invention.

[0073] In a computer-readable storage medium according to an embodiment of the present invention, when the vehicle blind spot monitoring and control program based on vehicle networking stored thereon is executed by a processor, by combining an image acquisition module, a lidar module, and vehicle networking technology, the angle between the vehicle head and the trailer can be accurately determined. Thus, the operating states of different blind spot monitoring components can be accurately controlled according to the angle, effectively monitoring the blind spots around the vehicle, overcoming the limitations of single radar detection. At the same time, unnecessary continuous operation of the blind spot monitoring components can be avoided, reducing power consumption, extending the battery service life, and improving the overall energy efficiency ratio of the vehicle. Further, by accurately controlling different blind spot monitoring components to monitor the side blind spots according to the angle, it is possible to avoid the occurrence of the vehicle head and the vehicle body forming a small angle during vehicle driving, and the double radar generating interference in the opposite direction and reflection misjudgment phenomena, playing the role of visual redundancy judgment and compensating for blind spots. Thus, the accuracy of the vehicle's blind spot monitoring can be improved, and further the driving safety of the vehicle can be improved.

[0074] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example.

[0075] Although embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. A vehicle blind spot monitoring and control system based on the vehicle networking, characterized in that Including: An image acquisition module, which is arranged on one side or both sides of the road and is used to acquire the image information of the vehicle driving on the road, and obtain the first steering attitude information of the vehicle and the first angle information between the front of the vehicle and the connected trailer based on the image information; A lidar module, which is arranged on one side or both sides of the road and is used to obtain the second steering attitude information of the vehicle and the second angle information between the front of the vehicle and the connected trailer; An edge computing unit, which is used to determine the included angle information between the front and the connected trailer according to the first steering attitude information, the first angle information, the second steering attitude information and the second angle information, and transmit the included angle information to the cloud platform through a communication module; A steering angle acquisition module, which is used to acquire the steering wheel angle information of the vehicle and transmit the steering wheel angle information to the cloud platform through the communication module; The communication module is used to realize data transmission between the steering angle acquisition module, the cloud platform, the vehicle-mounted controller and the edge computing unit; The cloud platform is used to determine the included angle between the front and the connected trailer according to the included angle information and the steering wheel angle information, and transmit the included angle to the vehicle-mounted controller through the communication module; The vehicle-mounted controller is used to control the operation state of the blind area monitoring component of the vehicle according to the included angle, and the blind area monitoring component is used to monitor the blind area of the vehicle.

2. The vehicle blind spot monitoring and control system based on the vehicle networking according to claim 1, wherein The blind area monitoring component includes: a forward millimeter-wave radar, which is arranged inside the side of the front of the vehicle. When controlling the operation state of the blind area monitoring component of the vehicle according to the included angle, the vehicle-mounted controller is used for: When the included angle is equal to the first preset angle, wake up the forward millimeter-wave radar, and move the forward millimeter-wave radar from the inside of the side of the front of the vehicle to the outside of the side of the front of the vehicle to obtain the side blind area information of the vehicle.

3. The vehicle blind spot monitoring and control system based on the vehicle networking according to claim 2, wherein, The blind area monitoring component further includes: a rearward millimeter-wave radar, which is arranged inside the side of the connected trailer. When controlling the operation state of the blind area monitoring component of the vehicle according to the included angle, the vehicle-mounted controller is used for: When the included angle reaches the second preset angle and does not reach the first preset angle, wake up the forward millimeter-wave radar and the rearward millimeter-wave radar, move the forward millimeter-wave radar from the inside of the side of the front of the vehicle to the outside of the side of the front of the vehicle, and move the rearward millimeter-wave radar from the inside of the side of the connected trailer to the outside of the side of the connected trailer to obtain the side blind area information of the vehicle.

4. The vehicle blind spot monitoring and control system based on the vehicle networking according to claim 3, wherein The blind area monitoring component further includes: a camera, which is arranged inside the side of the connected trailer. When controlling the operation state of the blind area monitoring component of the vehicle according to the included angle, the vehicle-mounted controller is further used for: When the included angle does not reach the second preset angle, wake up the forward millimeter-wave radar, the rearward millimeter-wave radar, and the camera, so that the forward millimeter-wave radar moves from the inner side of the vehicle head to the outer side of the vehicle head, and so that the rearward millimeter-wave radar and the camera move from the inner side of the connected trailer to the outer side of the connected trailer, in order to obtain the side blind area information of the vehicle.

5. The vehicle blind spot monitoring and control system based on the vehicle networking according to claim 1, wherein The communication module includes: a roadside unit and an on-vehicle unit; The roadside unit is arranged on one side or both sides of the road, and is used to transmit the steering wheel rotation angle information to the cloud platform, and transmit the included angle to the on-vehicle unit; The on-vehicle unit is arranged at the bottom of the connected trailer, and is used to transmit the included angle to the vehicle-mounted controller.

6. The vehicle blind spot monitoring and control system based on the vehicle networking according to claim 2 or 3 or 4, characterized in that, The vehicle blind area monitoring and control system based on vehicle-to-everything (V2X) further includes: a blind area monitoring controller, and the blind area detection controller is used to receive the side blind area information, and determine the obstacle information in the blind area according to the side blind area information.

7. The vehicle blind spot monitoring and control system based on the vehicle networking according to claim 6, wherein The vehicle blind area monitoring and control system based on vehicle-to-everything (V2X) further includes: a blind area warning device, and the blind area warning device is used to receive the obstacle information and send out a warning signal according to the obstacle information.

8. A vehicle blind area monitoring and control method based on vehicle-to-everything (V2X), the method includes the following steps: Obtain the first steering attitude information of the vehicle, the second steering attitude information, the first angle information and the second angle information between the vehicle head and the connected trailer, and the steering wheel rotation angle information of the vehicle; Determine the included angle information between the vehicle head and the connected trailer according to the first steering attitude information, the second steering attitude information, the first angle information, and the second angle information; Determine the included angle between the vehicle head and the connected trailer according to the included angle information and the steering wheel rotation angle information; Control the operating state of the vehicle blind area monitoring component according to the included angle, wherein the blind area monitoring component is used to monitor the blind area of the vehicle.

9. A vehicle, comprising: The vehicle blind area monitoring and control system of vehicle-to-everything (V2X) according to any one of claims 1-7; Or, A processor, a memory, and a vehicle-to-everything (V2X) blind area monitoring and control program stored on the memory and executable on the processor, and when the vehicle-to-everything (V2X) blind area monitoring and control program is executed by the processor, it implements the vehicle-to-everything (V2X) blind area monitoring and control method according to claim 8.

10. A computer-readable storage medium, on which a vehicle-to-everything (V2X) blind area monitoring and control program is stored, and when the vehicle-to-everything (V2X) blind area monitoring and control program is executed by a processor, it implements the vehicle-to-everything (V2X) blind area monitoring and control method according to claim 8.

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