Blind zone monitoring method, blind zone monitoring device and electronic equipment

Abstract

The invention discloses a blind area monitoring method, a blind area monitoring device and electronic equipment. According to the technical scheme, under the condition that the vehicle meets the target scene condition, the view blind area range is adjusted according to the driving scene data obtained in real time, and the safety monitoring operation is executed according to the adjusted view blind area range. As the target scene condition can indicate the specific driving scene preset for the vehicle, the view blind area range is dynamically adjusted according to the driving scene data under the condition that the target scene condition is met, so that the adjusted view blind area range is more adaptive to the current driving scene, and the blind area monitoring accuracy is improved. Moreover, by setting the target scene condition, frequent adjustment of the view blind area range can be avoided, so that the overall efficiency of blind area monitoring is improved. Besides, according to the technical scheme provided by the invention, resources such as hardware do not need to be added, an existing vehicle structure can be adapted, and the applicability and compatibility of blind area monitoring are improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a blind spot monitoring method, a blind spot monitoring device, and an electronic device. Background Art

[0002] In the process of vehicle development, safety has always received extensive attention and research. Passive safety technologies such as seat belts and airbags can significantly reduce the casualty rate in the event of an accident, while active safety technology has gradually become a core and key development direction for vehicles because it can prevent accidents. Blind Spot Detection (BSD) technology is an important branch of active safety technology. Blind spot detection technology can monitor the vehicle's blind spot range in real time and remind the driver to pay attention to safety when there are dangerous vehicles in the blind spot range, thereby effectively reducing traffic accidents. Therefore, how to achieve blind spot monitoring to improve the accuracy of blind spot monitoring is a technical issue that the industry is currently committed to researching. Summary of the Invention

[0003] The embodiments of the present application provide a blind spot monitoring method, a blind spot monitoring device, and an electronic device, which can dynamically adjust the blind spot range of the field of view and improve the accuracy of blind spot monitoring.

[0004] In a first aspect, a blind spot monitoring method described in an embodiment of the present application includes: obtaining driving scene data of the vehicle during driving; when the vehicle meets the target scene conditions, adjusting the blind spot range of the vehicle according to the driving scene data; and performing safety monitoring operations according to the adjusted blind spot range.

[0005] Optionally, the driving scene data includes road curvature parameters; and the target scene condition includes a driving scene on a curved road.

[0006] Optionally, adjusting the blind spot range of the vehicle according to the driving scene data includes: compressing a first blind spot range of the vehicle according to the road curvature parameter; and / or expanding a second blind spot range of the vehicle according to the road curvature parameter; wherein the first blind spot range is the blind spot range of the vehicle on the inside of a curve, and the second blind spot range is the blind spot range of the vehicle on the outside of a curve.

[0007] Optionally, the road curvature parameter includes a curvature radius; compressing the first blind spot range of the vehicle based on the road curvature parameter includes: reducing the blind spot distance of the first blind spot range based on the curvature radius to compress the first blind spot range; wherein the blind spot distance of the first blind spot range is positively correlated with the curvature radius.

[0008] Optionally, the road curvature parameter includes a curvature radius; and expanding the second blind spot range of the vehicle based on the road curvature parameter includes: increasing a blind spot angle of the second blind spot range based on the curvature radius to expand the second blind spot range; wherein the blind spot angle of the second blind spot range is negatively correlated with the curvature radius.

[0009] Optionally, the driving scene data includes motion state parameters; and the target scene condition includes being in a high-speed driving scene.

[0010] Optionally, adjusting the blind spot range of the vehicle according to the driving scene data includes: expanding the blind spot range according to the motion state parameter.

[0011] Optionally, the motion state parameter includes a driving speed; and expanding the blind spot range according to the motion state parameter includes: increasing a blind spot distance of the blind spot range according to the driving speed to expand the blind spot range; wherein the blind spot distance of the blind spot range is positively correlated with the driving speed.

[0012] In a second aspect, a blind spot monitoring device described in an embodiment of the present application includes: a data acquisition module for acquiring driving scene data of the vehicle during driving; a range adjustment module for adjusting the blind spot range of the vehicle according to the driving scene data when the vehicle meets the target scene conditions; and a safety monitoring module for performing safety monitoring operations according to the adjusted blind spot range.

[0013] In a third aspect, an electronic device described in an embodiment of the present application includes: a memory on which a computer program or instruction is stored; and a processor for executing the computer program or instruction in the memory to implement the blind spot monitoring method described in the first aspect above.

[0014] In summary, the technical solution provided by the embodiment of the present application adjusts the blind spot range of the field of view according to the driving scene data obtained in real time when the vehicle meets the target scene conditions, and performs safety monitoring operations according to the adjusted blind spot range of the field of view. Since the target scene conditions can indicate a specific driving scene preset for the vehicle, when the target scene conditions are met, the blind spot range of the field of view is dynamically adjusted according to the driving scene data, so that the adjusted blind spot range of the field of view can be more adapted to the current driving scene, thereby improving the accuracy of blind spot monitoring. Moreover, by setting the target scene conditions, the embodiment of the present application can also avoid frequent adjustments to the blind spot range of the field of view, so as to improve the overall efficiency of blind spot monitoring. In addition, the technical solution provided by the embodiment of the present application does not require the addition of hardware and other resources, can be adapted to the existing vehicle structure, and improves the applicability and compatibility of blind spot monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 This is a flow chart of a blind spot monitoring method provided by an embodiment of the present application;

[0017] Figure 2 This is a schematic diagram of a blind spot range of the visual field provided in an embodiment of the present application;

[0018] Figure 3 This is a schematic diagram of another blind spot range provided in an embodiment of the present application;

[0019] Figure 4 This is a schematic diagram of another blind spot range provided in an embodiment of the present application;

[0020] Figure 5 It is a structural schematic diagram of a blind spot monitoring device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0022] See also Figure 1 , Figure 1This is a flow chart of a blind spot monitoring method provided by an embodiment of the present application. Figure 1 As shown, the blind spot monitoring method may include the following steps S100 to S300.

[0023] Step S100: Acquiring driving scene data of the vehicle during driving of the vehicle;

[0024] Step S200: When the vehicle meets the target scene conditions, the blind spot range of the vehicle is adjusted according to the driving scene data;

[0025] Step S300: Execute safety monitoring operations according to the adjusted blind spot range.

[0026] Driving scenario data can indicate the vehicle's current driving scenario, such as a curved road, a straight road, a high-speed road, a mountain road, or an urban driving scenario. Driving scenario data may include various data generated and recorded by the vehicle during driving, and / or data further determined based on the generated and recorded data. For example, driving scenario data includes, but is not limited to, vehicle speed, yaw rate, turn signal status, engine speed, battery charge, pitch angle, roll angle, road curvature, road radius of curvature, acceleration, steering wheel angle, and the like.

[0027] Based on the vehicle's driving scene data, it can be determined whether the vehicle meets the target scene conditions. The target scene conditions are used to indicate a preset driving scene, and under the preset driving scene, the vehicle's blind spot range needs to be adjusted, such as compressing the blind spot range and / or expanding the blind spot range to adapt to the special scene state of the preset driving scene. The adjustment of the blind spot range can be based on preset rules or based on artificial intelligence models, etc., and the embodiments of the present application do not limit this. For the content and judgment of the target scene conditions, the adjustment method of the blind spot range, etc., please refer to the following embodiments, which will not be elaborated here.

[0028] It should be understood that a vehicle's blind spots include, but are not limited to, the front blind spot, rear blind spot, rearview mirror blind spot, and A- and B-pillar blind spots. The front blind spot may refer to the area in front of the vehicle, particularly under the hood; the rear blind spot may refer to the area behind the rear of the vehicle, particularly under the trunk or bumper; the rearview mirror blind spot may refer to the area not captured by the vehicle's rearview mirrors; and the A- and B-pillar blind spots may refer to the areas obscured by the A- and B-pillars on either side of the windshield. The drawings of the embodiments of this application illustrate the blind spots as including the rearview mirror blind spot, but this does not constitute a limitation on the embodiments of this application.

[0029] Based on the adjusted blind spot range, safety monitoring operations are performed to promptly alert users to potential dangerous situations within the blind spot and prevent traffic accidents. Safety monitoring operations include detecting target objects within the blind spot and initiating safety alerts for these target objects. It should be understood that target objects include, but are not limited to, other vehicles, pedestrians, obstacles, road facilities, road signs, and road markings. In actual applications, the specific type of target object can be flexibly set based on needs, and this embodiment of the application does not limit this.

[0030] The vehicle can sense a target object using millimeter-wave radar, lidar, or other sensors, and project the target object's position data into a lane curvature coordinate system. This lane curvature coordinate system indicates the vehicle's relationship to the lane centerline during driving. Typically, the vertical axis indicates the distance the vehicle has traveled along the road, and the horizontal axis indicates the distance the vehicle has deviated from the road centerline. This projected distance data can then be used to determine whether the target object is within the adjusted blind spot.

[0031] When there is a target object within the adjusted blind spot of vision, a safety alarm operation can be performed, such as sounding an alarm, flashing lights, voice prompts, text message prompts, etc. In some embodiments, in order to reduce the false alarm rate, a target collision condition can be set. When there is a target object within the adjusted blind spot of vision and the target object meets the target collision condition, it means that the risk of collision between the vehicle and the target object is relatively high, and a safety alarm operation can be performed at this time. The embodiment of the present application does not limit the specific content of the target collision condition. In actual application, it can be flexibly set according to the needs. For example, the target collision condition includes but is not limited to: the distance between the target object and the vehicle is less than a preset distance threshold (such as 4 meters, 5 meters or 7 meters, etc.), the lane change time of the target object is less than a preset time threshold (such as 1 second, 1.5 seconds, 2 seconds or 3 seconds, etc.), etc. The lane change time of the target object is also called the collision time (Time to Collision, TTC), which can be obtained by looking up a table based on the relative speed of the target object. The greater the relative speed, the shorter the lane change time.

[0032] In summary, the technical solution provided by the embodiment of the present application adjusts the blind spot range of the field of view according to the driving scene data obtained in real time when the vehicle meets the target scene conditions, and performs safety monitoring operations according to the adjusted blind spot range of the field of view. Since the target scene conditions can indicate a specific driving scene preset for the vehicle, when the target scene conditions are met, the blind spot range of the field of view is dynamically adjusted according to the driving scene data, so that the adjusted blind spot range of the field of view can be more adapted to the current driving scene, thereby improving the accuracy of blind spot monitoring. Moreover, by setting the target scene conditions, the embodiment of the present application can also avoid frequent adjustments to the blind spot range of the field of view, so as to improve the overall efficiency of blind spot monitoring. In addition, the technical solution provided by the embodiment of the present application does not require the addition of hardware and other resources, can be adapted to the existing vehicle structure, and improves the applicability and compatibility of blind spot monitoring.

[0033] In some embodiments, the driving scenario data includes road curvature parameters, and the target scenario condition includes a curved driving scenario. The road curvature parameters indicate the curvature of the road on which the vehicle is traveling. Based on the road curvature parameters, it can be determined whether the vehicle meets the target scenario conditions, that is, whether the vehicle is in a curved driving scenario. If the vehicle is in a curved driving scenario, the blind spot range is adjusted based on the road curvature parameters. Road curvature parameters include, but are not limited to, curvature, curvature radius, and clothoid curvature, and are not limited in this embodiment of the present application.

[0034] Road curvature parameters can be obtained based on lane line fitting. In some embodiments, obtaining vehicle driving scene data in step S100 may include: fitting lane lines on the road where the vehicle is traveling based on the vehicle's driving road image; and determining road curvature parameters based on the geometric parameters of the lane lines.

[0035] Road images can be captured by cameras in the vehicle, such as front-view cameras, rear-view cameras, and surround-view cameras; or by radars in the vehicle, such as millimeter-wave radars and lidars. Road images can be presented as RGB images, grayscale images, or point sets. Lane lines can be fitted based on the road image. For example, lane feature points can be extracted from the road image and then fitted based on these feature points. Lane fitting can be based on quadratic functions or B-spline curves, and the fitting process includes calculating parameter values ​​in the lane equation. Based on the geometric parameters of the lane lines obtained from the fitting, such as the parameter values ​​in the lane equation, the road curvature parameters can be determined.

[0036] Exemplarily, lane lines can be fitted based on a quadratic function, which can be shown as the following formula 1. Fitting lane lines means calculating parameters a, b, and c in formula 1. Road curvature parameters may include a curvature radius. According to the geometric parameters of the lane lines obtained by fitting (i.e., the parameters in formula 1), the curvature radius R can be calculated based on the following formula 2.

[0037] Formula 1: y = ax² + bx + c

[0038] Formula 2:

[0039] Whether the vehicle is in a curved driving scene can be determined based on the road curvature parameters. For example, the road curvature parameters may include the curvature radius. There is a negative correlation between the curvature degree of the road and the curvature radius. The larger the curvature radius, the smaller the curvature degree of the road, and the smaller the curvature radius, the greater the curvature degree of the road. Taking the above formula 2 as an example, for a straight road, the value of the parameter a is less than the threshold ∈, and the curvature radius R approaches infinity; for a curve, the value of the parameter a is greater than or equal to the threshold ∈, and the value of the curvature radius R is limited. Based on this, a curvature parameter threshold can be set, and whether the vehicle is in a curved driving scene can be determined based on the comparison between the curvature radius and the curvature parameter threshold. If the curvature radius is less than or equal to the curvature parameter threshold, the vehicle is in a curved driving scene; if the curvature radius is greater than the curvature parameter threshold, the vehicle is not in a curved driving scene, but in a straight driving scene.

[0040] When the vehicle is traveling on a curve, adjusting the vehicle's blind spot based on the driving scenario data in step S200 may include compressing the vehicle's first blind spot based on the road curvature parameter and / or expanding the vehicle's second blind spot based on the road curvature parameter. The first blind spot is the vehicle's blind spot on the inside of the curve, and the second blind spot is the vehicle's blind spot on the outside of the curve.

[0041] It should be understood that in the embodiments of the present application, adjustments such as compression or expansion of the blind spot range can be made based on the initial blind spot range. For example, a preset or default value can be set for the blind spot range parameter. During vehicle operation, the initial blind spot range is constructed using the preset or default value. When the vehicle meets the target scene conditions, the initial blind spot range is compressed or expanded relative to the initial blind spot range.

[0042] In embodiments of the present application, when a vehicle is traveling on a curve, the blind spot range of the vehicle on the inside of the curve is compressed, and the blind spot range of the vehicle on the outside of the curve is expanded. This helps to establish a reasonable and accurate blind spot range based on the driving characteristics of the vehicle in the curve, thereby improving the accuracy of blind spot monitoring. The inside of the curve refers to the side of the vehicle's turning direction when the vehicle is traveling along the curve, and the outside of the curve refers to the side opposite to the vehicle's turning direction when the vehicle is traveling along the curve. For example, based on the driver's forward direction, for a left curve, the left side of the vehicle may be the inside of the curve, and the right side of the vehicle may be the outside of the curve. Thus, the first blind spot range is the blind spot range of the left side of the vehicle, and the second blind spot range is the blind spot range of the right side of the vehicle. For a right curve, the left side of the vehicle may be the outside of the curve, and the right side of the vehicle may be the inside of the curve. Thus, the first blind spot range is the blind spot range of the right side of the vehicle, and the second blind spot range is the blind spot range of the left side of the vehicle.

[0043] See also Figure 2 , Figure 2 This is a schematic diagram of a blind spot range of the field of view provided in an embodiment of the present application. Figure 2 The blind spot of the rearview mirror is used as an example for description. The parameter value of the blind spot range 210 may include the blind spot angle and the blind spot distance. Figure 2 As shown, the blind spot angle may refer to the angle θ between the side of the blind spot range 210 close to the vehicle body and the vehicle's travel direction, that is, the angle θ between the side and rear area that the driver cannot observe through the rearview mirror 220 and the vehicle's travel direction; the blind spot distance may refer to the length D of the blind spot range 210 in the vehicle's travel direction, that is, the vertical distance D between the rearview mirror 220 and the tail of the blind spot range 210. It should be understood that the embodiment of the present application does not limit the specific shape of the blind spot range 210. In actual applications, the blind spot range 210 may be square, triangular, sector-shaped, etc. Figure 2 The triangle is used as an example only for description and explanation, which does not constitute a limitation on the embodiments of the present application.

[0044] For curved driving scenarios, it is necessary to compress the first blind spot corresponding to the inside of the curve and expand the second blind spot corresponding to the outside of the curve to form a reasonable field of view blind spot range. Since the driver's visual field is larger on the inside of the curve and the driver's visual field through the rearview mirror is larger on the outside of the curve, compressing the first blind spot range can include reducing the blind spot distance of the first blind spot range, and expanding the second blind spot range can include increasing the blind spot angle of the second blind spot range.

[0045] Taking the example of a road curvature parameter including a curvature radius, compressing the vehicle's first blind spot based on the road curvature parameter includes reducing the blind spot distance of the first blind spot based on the curvature radius to compress the first blind spot. Reducing the blind spot distance of the first blind spot can be based on the initial blind spot distance of the first blind spot. The blind spot distance of the first blind spot is positively correlated with the curvature radius: a smaller curvature radius indicates a smaller blind spot distance, while a larger curvature radius indicates a larger blind spot distance. Based on the curvature radius, the blind spot distance of the first blind spot can be obtained through a table lookup or calculation. For example, first mapping data can be pre-set, including multiple sets of correspondences between curvature radii and blind spot distances. Based on the curvature radius of the road currently on which the vehicle is traveling, the corresponding blind spot distance can be directly obtained or interpolated from the first mapping data and used as the blind spot distance of the first blind spot.

[0046] Taking the example of a road curvature parameter including a curvature radius, expanding the vehicle's second blind spot based on the road curvature parameter includes increasing the blind spot angle of the second blind spot based on the curvature radius to expand the second blind spot. The increased blind spot angle of the second blind spot can be based on the initial blind spot angle of the second blind spot. The blind spot angle of the second blind spot is negatively correlated with the curvature radius: a smaller curvature radius indicates a larger blind spot angle, and a larger curvature radius indicates a smaller blind spot angle. Based on the curvature radius, the blind spot angle of the second blind spot can be obtained by table lookup or calculation. For example, the blind spot angle of the second blind spot can be calculated using the following formula 3: Where θouter is the adjusted blind spot angle of the second blind spot, θbase is the initial blind spot angle of the second blind spot, v is the vehicle's speed, and g is the acceleration due to gravity.

[0047] Formula 3: θouter = θbase + arctan(v 2 / (R·g))

[0048] See also Figure 3 , Figure 3 This is a schematic diagram of another blind area of ​​vision provided by the embodiment of the present application. Figure 3As shown, blind spot 210 includes a first blind spot 211 corresponding to the inside of a curve and a second blind spot 212 corresponding to the outside of the curve. Assuming the initial blind spot angle of blind spot 210 (including first blind spot 211 and second blind spot 212) is 30 degrees and the initial blind spot distance is 3 meters, after the vehicle is started, the initial blind spot angle can be established based on 30 degrees and 3 meters. When the vehicle is detected on a curve, the blind spot distance of first blind spot 211 can be reduced, and the blind spot angle of second blind spot 212 can be increased. Assuming that the vehicle's speed is 60 kilometers per hour and the radius of curvature of the road on which the vehicle is located is 100 meters, the blind spot distance of the first blind spot range 211 can be determined to be 2.5 meters by looking up the table, and the blind spot angle of the second blind spot range 212 can be calculated to be 40 degrees based on the above formula 3. In this way, the first blind spot range 211 is compressed and the second blind spot range 212 is expanded to form a more reasonable field of view blind spot range 210, thereby avoiding missing reports of close-range objects on the inside of the curve and reducing false reports of distant objects on the outside of the curve.

[0049] It should be understood that when the current vehicle switches from a curve driving scene to a straight road driving scene, the vehicle's initial blind spot range can be restored. Figure 3 For example, after the vehicle switches from a curve driving scene to a straight driving scene, the blind spot angle of the blind spot range can be restored to 30 degrees and the blind spot distance of the blind spot range can be restored to 3 meters.

[0050] In some embodiments, the driving scene data includes motion state parameters, and the target scene condition includes a high-speed driving scene. The motion state parameters can be used to determine whether the vehicle is in a high-speed driving scene. If the vehicle is in a high-speed driving scene, the blind spot range is adjusted based on the motion state parameters. The motion state parameters include, but are not limited to, driving speed, driving acceleration, throttle opening, engine speed, transmission gear position, and the like, and are not limited to these parameters in this embodiment of the application.

[0051] Whether a vehicle is in a high-speed driving scenario can be determined based on the motion state parameters. In embodiments of the present application, a state parameter threshold can be preset to determine whether the vehicle is in a high-speed driving scenario based on a comparison of the motion state parameter and the state parameter threshold. For example, the motion state parameter may include driving speed. When the driving speed is greater than or equal to the state parameter threshold, the vehicle is determined to be in a high-speed driving scenario. When the driving speed is less than the state parameter threshold, the vehicle is determined to be in a medium-to-low speed driving scenario, rather than a high-speed driving scenario.

[0052] When the vehicle is traveling at high speed, adjusting the vehicle's blind spot based on the driving scenario data in step S200 may include expanding the blind spot based on the motion state parameter. By expanding the blind spot in high-speed driving scenarios and performing safety monitoring based on the expanded blind spot, more accurate and comprehensive blind spot monitoring can be provided, enabling more timely detection of potential accidents and providing the driver with more time to react.

[0053] For an introduction to the parameter values ​​of the blind spot range, please refer to the above embodiments and will not be elaborated here. Taking the example of a vehicle's driving speed as an example, when the vehicle is in a high-speed driving scenario, the above-mentioned expansion of the blind spot range based on the motion state parameters includes: increasing the blind spot distance of the blind spot range based on the driving speed to expand the blind spot range. Among them, the increase in the blind spot distance of the blind spot range can be based on the initial blind spot distance of the blind spot range. The blind spot distance of the blind spot range is positively correlated with the driving speed. The higher the driving speed, the larger the blind spot distance, and the lower the driving speed, the smaller the blind spot distance. Based on the driving speed, the blind spot distance can be obtained by looking up a table or calculating. For example, the blind spot distance of the blind spot range can be calculated based on the following formula 4. Among them, Dadjusted is the blind spot distance after the blind spot range is adjusted, and Dbase is the initial blind spot distance of the blind spot range.

[0054] Formula 4: Dadjusted=Dbase+0.01v

[0055] See also Figure 4 , Figure 4 This is a schematic diagram of another blind spot range provided in an embodiment of the present application. Assuming that the initial blind spot angle of the blind spot range 210 is 30 degrees and the initial blind spot distance is 3 meters, the initial blind spot range can be constructed according to 30 degrees and 3 meters after the vehicle is started. When it is detected that the vehicle is in a high-speed driving scene, the blind spot distance of the blind spot range 210 can be increased to expand the blind spot range 210. Assuming that the vehicle's driving speed is 100 kilometers per hour, the blind spot distance of the blind spot range 210 can be calculated to be 4 meters based on the above formula 4, thereby increasing the blind spot range 210 to form a more reasonable blind spot range, thereby performing blind spot monitoring more accurately and comprehensively, and providing the driver with more ample reaction time.

[0056] Based on the same inventive concept, embodiments of the present application also provide a blind spot monitoring device for implementing the aforementioned blind spot monitoring method. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more blind spot monitoring device embodiments provided below can be found in the aforementioned limitations of the blind spot monitoring method and will not be further elaborated here.

[0057] See also Figure 5 , Figure 5 Schematic diagram of a blind spot monitoring device provided in an embodiment of the present application. Figure 5 As shown, the blind spot monitoring device 500 includes: a data acquisition module 510, a range adjustment module 520 and a safety monitoring module 530. Among them:

[0058] The data acquisition module 510 is used to acquire the driving scene data of the vehicle while the vehicle is driving;

[0059] Range adjustment module 520, for adjusting the vehicle's blind spot range according to driving scene data when the vehicle meets the target scene conditions;

[0060] The safety monitoring module 530 is configured to perform safety monitoring operations according to the adjusted blind spot range.

[0061] In some embodiments, the driving scene data includes road curvature parameters; and the target scene condition includes being in a curved driving scene.

[0062] In some embodiments, the data acquisition module 510 is further used to: fit lane lines on the road where the vehicle is located based on the image of the road on which the vehicle is traveling; and determine road curvature parameters based on geometric parameters of the lane lines.

[0063] In some embodiments, the range adjustment module 520 includes: a compression unit for compressing the first blind spot range of the vehicle according to the road curvature parameter; and / or a first expansion unit for expanding the second blind spot range of the vehicle according to the road curvature parameter; wherein the first blind spot range is the blind spot range of the vehicle on the inside of the curve, and the second blind spot range is the blind spot range of the vehicle on the outside of the curve.

[0064] In some embodiments, the road curvature parameter includes a curvature radius; the compression unit is further used to: reduce the blind spot distance of the first blind spot range according to the curvature radius to compress the first blind spot range; wherein the blind spot distance of the first blind spot range is positively correlated with the curvature radius.

[0065] In some embodiments, the road curvature parameter includes a curvature radius; the above-mentioned first expansion unit is further used to: increase the blind spot angle of the second blind spot range according to the curvature radius to expand the second blind spot range; wherein the blind spot angle of the second blind spot range is negatively correlated with the curvature radius.

[0066] In some embodiments, the driving scene data includes motion state parameters; and the target scene condition includes being in a high-speed driving scene.

[0067] In some embodiments, the range adjustment module 520 includes: a second expansion unit, configured to expand the blind spot range of the field of view according to the motion state parameter.

[0068] In some embodiments, the motion state parameter includes the driving speed; the above-mentioned second expansion unit is also used to: increase the blind spot distance of the blind spot range according to the driving speed to expand the blind spot range of the field of view; wherein the blind spot distance of the blind spot range of the field of view is positively correlated with the driving speed.

[0069] In some embodiments, the safety monitoring module 530 is further configured to: execute a safety alarm operation when a target object exists within the adjusted blind spot and the target object satisfies a target collision condition.

[0070] Each module or unit in the blind spot monitoring device described above may be implemented in whole or in part through software, hardware, or a combination thereof. Each module or unit may be embedded in or independent of a processor in a computer device in the form of hardware, or may be stored in a memory in the computer device in the form of software, so that the processor can call and execute the corresponding operations of each module.

[0071] Accordingly, an embodiment of the present application further provides an electronic device. The electronic device includes a memory, a processor, and a computer program or instructions stored in the memory and executable on the processor. When the processor executes the computer program or instructions, the steps of the blind spot monitoring method described above are implemented. Since the blind spot monitoring method has been described in detail above, it will not be repeated here.

[0072] Accordingly, an embodiment of the present application further provides a computer-readable storage medium having a computer program or instructions stored thereon, which, when executed by a processor, implements the steps of the blind spot monitoring method described above. Since the blind spot monitoring method has been described in detail above, it will not be repeated here.

[0073] Accordingly, embodiments of the present application also provide a blind spot monitoring system. The blind spot monitoring system may include: a controller, a camera, a radar, and a sensor. The controller is used to execute the blind spot monitoring method described above. The controller may be implemented as a domain controller, an intelligent driving domain controller, a body domain controller, and / or an MCU (Micro Controller Unit). The camera may be used to capture images of the road being driven. The camera may be implemented as a front-view camera, a rear-view camera, and / or a surround-view camera. The radar may be used to sense targets around the vehicle, such as the distance, speed, and azimuth of the target objects. The radar may be implemented as a millimeter-wave radar and / or a lidar, and may be installed on the side or rear of the vehicle. The sensor may be used to collect vehicle motion parameters, such as vehicle speed, yaw rate, and engine speed. The camera, radar, and sensors may all be connected to a vehicle bus to upload the collected or sensed data to the vehicle bus. The controller may also be connected to the vehicle bus to obtain data from the vehicle bus for blind spot monitoring. Since the blind spot monitoring method has been described in detail above, it will not be repeated here.

[0074] Accordingly, an embodiment of the present application further provides a vehicle. The vehicle may include the aforementioned electronic device or the aforementioned blind spot monitoring system. The vehicle has all the beneficial effects of the aforementioned electronic device and blind spot monitoring system, which will not be further described here.

[0075] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0076] Those skilled in the art will appreciate that the drawings are merely schematic diagrams of exemplary embodiments and may not be to scale. The modules or processes in the drawings are not necessarily required to implement the present application and therefore cannot be used to limit the scope of protection of the present application.

[0077] The above is a detailed introduction to the blind spot monitoring method, blind spot monitoring device and electronic device provided in the embodiments of the present application, and specific examples are used to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the technical solutions and core ideas of the present application; ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A blind spot monitoring method, characterized in that: The method comprises: Acquiring driving scene data of the vehicle during driving of the vehicle; When the vehicle meets the target scene conditions, adjusting the blind spot range of the vehicle according to the driving scene data; Perform safety monitoring operations according to the adjusted blind spot range.

2. The method according to claim 1, characterized in that The driving scene data includes road curvature parameters; the target scene condition includes a driving scene on a curved road.

3. The method according to claim 2, characterized in that The adjusting the blind spot range of the vehicle according to the driving scene data includes: Compressing a first blind spot range of the vehicle according to the road curvature parameter; and / or, Expanding the second blind spot of the vehicle according to the road curvature parameter; The first blind spot range is the blind spot range of the field of vision when the vehicle is located on the inner side of a curve, and the second blind spot range is the blind spot range of the field of vision when the vehicle is located on the outer side of a curve.

4. The method according to claim 3, characterized in that The road curvature parameter includes a curvature radius; and compressing the first blind spot range of the vehicle according to the road curvature parameter includes: reducing the blind area distance of the first blind area according to the curvature radius to compress the first blind area; The blind spot distance of the first blind spot range is positively correlated with the curvature radius.

5. The method according to claim 3, characterized in that The road curvature parameter includes a curvature radius; and the step of extending the second blind spot of the vehicle according to the road curvature parameter includes: increasing the blind area angle of the second blind area according to the curvature radius to expand the second blind area; The blind spot angle of the second blind spot range is negatively correlated with the curvature radius.

6. The method according to claim 1, wherein The driving scene data includes motion state parameters; the target scene condition includes being in a high-speed driving scene.

7. The method according to claim 6, characterized in that The adjusting the blind spot range of the vehicle according to the driving scene data includes: The blind area of ​​the field of view is expanded according to the motion state parameter.

8. The method according to claim 7, characterized in that The motion state parameter includes a driving speed; and the expanding the blind spot range according to the motion state parameter includes: According to the driving speed, the blind spot distance of the blind spot range is increased to expand the blind spot range; The blind spot distance of the blind spot range is positively correlated with the driving speed.

9. A blind spot monitoring device, characterized in that: The device comprises: A data acquisition module is used to acquire driving scene data of the vehicle while the vehicle is driving; A range adjustment module, configured to adjust the blind spot range of the vehicle according to the driving scene data when the vehicle meets the target scene conditions; The safety monitoring module is used to perform safety monitoring operations according to the adjusted blind spot range.

10. An electronic device, characterized in that: include: Memory on which computer programs or instructions are stored; A processor, configured to execute the computer program or instructions in the memory to implement the blind spot monitoring method according to any one of claims 1 to 8.

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