Vehicle lateral detection equipment, vehicle and vehicle lateral environment monitoring method and device

Abstract

The invention discloses vehicle lateral detection equipment, a vehicle and a vehicle lateral environment monitoring method and device, and relates to the technical field of vehicles. The vehicle lateral detection equipment comprises an image sensor, a lens, an arc-shaped reflecting mirror and a plane reflecting mirror. The lens is arranged on the side face of a vehicle body. The arc-shaped reflecting mirror is arranged on the side, away from the vehicle body, of the lens, and the arc-shaped reflecting mirror is used for reflecting incident light in the side direction of the vehicle to the plane reflecting mirror; the plane mirror is arranged below the lens and the arc-shaped mirror, and the plane mirror is used for reflecting reflected light received from the arc-shaped mirror to the lens; the lens is used for sending the light received from the plane mirror to the image sensor; the image sensor generates a lateral detection image of the lateral direction of the vehicle according to the received light. According to the embodiment, the installation difficulty of the vehicle lateral detection equipment can be reduced, and the production cost of the vehicle is reduced.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a vehicle lateral detection device, a vehicle, and a vehicle lateral environment monitoring method and device. Background Art

[0002] In existing intelligent driving systems, side detection requires a front-facing camera, a rear-facing camera, and a side-view camera. This equipment is challenging to install and deploy due to the need to consider the mounting design, interior space, and wiring harness routing for these three cameras. Furthermore, the three high-resolution cameras increase vehicle production costs. Summary of the Invention

[0003] In view of this, embodiments of the present invention provide a vehicle lateral detection device, a vehicle, and a vehicle lateral environment monitoring method and apparatus, which can reduce the difficulty of installing and deploying the vehicle lateral detection device and reduce the production cost of the vehicle.

[0004] To achieve the above object, according to one aspect of an embodiment of the present invention, a vehicle side detection device is provided, comprising: an image sensor, a lens, a curved reflector, and a plane reflector;

[0005] The lens is arranged on the side of the vehicle body;

[0006] The curved reflector is arranged on the side of the lens away from the vehicle body, and is used to reflect the incident light from the side of the vehicle onto the flat reflector;

[0007] The plane reflector is arranged below the lens and the curved reflector, and is used to reflect the reflected light received from the curved reflector to the lens;

[0008] The lens is used to send the light received from the plane mirror to the image sensor;

[0009] The image sensor generates a side detection image of the side of the vehicle based on the received light.

[0010] Optionally, the lower projections of the lens and the curved reflector at least partially fall on the plane reflector;

[0011] Optionally, the radius of the plane reflector is 1 to 2 cm.

[0012] Optionally, the distance between the plane reflector and the lens is 2 to 3 cm.

[0013] Optionally, the radius of the curved reflector is 1 to 3.5 cm.

[0014] Optionally, the lower half of the housing of the lens is made of transparent material so that the lens receives the reflected light reflected by the plane reflector.

[0015] Optionally, the incident light reflected by the curved reflector includes: incident light within a vertical field of view on the side of the vehicle and incident light within a horizontal field of view.

[0016] Optionally, the vehicle side detection device is installed on the fender or B-pillar of the vehicle.

[0017] To achieve the above-mentioned object, according to another aspect of an embodiment of the present invention, a vehicle is provided, wherein the vehicle is equipped with the above-mentioned vehicle lateral detection device.

[0018] To achieve the above objectives, according to another aspect of an embodiment of the present invention, a method for monitoring the lateral environment of a vehicle is provided. The method is implemented based on the vehicle lateral detection device of any of the above embodiments installed on the vehicle, and includes:

[0019] The curved reflector and the flat reflector in the vehicle side detection device cooperate to focus the light from the side of the vehicle onto the lens in the vehicle side detection device;

[0020] Using a lens to provide light to an image sensor in a vehicle side detection device;

[0021] The image sensor in the vehicle side detection device is used to generate a side detection image of the vehicle side according to the received light.

[0022] To achieve the above object, according to another aspect of an embodiment of the present invention, a vehicle control method is provided, wherein a vehicle is equipped with a vehicle lateral detection device according to any of the above embodiments, comprising:

[0023] Acquire a lateral detection image provided by a vehicle lateral detection device, and determine a vehicle driving strategy based on the lateral detection image;

[0024] Control vehicle driving according to driving strategy.

[0025] To achieve the above object, according to another aspect of an embodiment of the present invention, there is provided a vehicle control device, characterized in that it is communicatively connected to the vehicle lateral detection device of any of the above embodiments installed on the vehicle, and includes:

[0026] a strategy determination module, configured to obtain a lateral detection image of the vehicle provided by a vehicle lateral detection device, and determine a driving strategy of the vehicle based on the lateral detection image;

[0027] The vehicle control module is used to control the vehicle driving according to the driving strategy.

[0028] To achieve the above object, according to another aspect of an embodiment of the present invention, there is provided an electronic device, including:

[0029] one or more processors;

[0030] a storage device for storing one or more programs,

[0031] When one or more programs are executed by one or more processors, the one or more processors implement the above-mentioned vehicle lateral environment monitoring method or vehicle control method.

[0032] To achieve the above objectives, according to another aspect of an embodiment of the present invention, a computer-readable medium is provided, on which a computer program is stored. When the program is executed by a processor, the above-mentioned vehicle lateral environment monitoring method or vehicle control method is implemented.

[0033] One embodiment of the above invention has the following advantages or beneficial effects: the curved reflector is a special curved surface surrounding the lens. The curved reflector can reflect all incident light within the field of view, from the front to the rear of the vehicle, onto the plane reflector. The plane reflector then reflects the reflected light received from the curved reflector back to the lens, thereby completing the vehicle's side detection. Compared to solutions that require three cameras to complete vehicle side detection, the solution of this embodiment of the present invention only requires an image sensor, a lens, a curved reflector, and a plane reflector to complete the vehicle's side detection. This can reduce the difficulty of installing and deploying vehicle side detection equipment and reduce vehicle production costs.

[0034] The further effects of the above-mentioned non-conventional optional manner will be described below in conjunction with specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings are provided for a better understanding of the present invention and are not intended to limit the present invention.

[0036] Figure 1 is a schematic cross-sectional view of a vehicle side detection device provided according to one embodiment of the present invention;

[0037] Figure 2 is a top view of a vehicle lateral detection device provided according to another embodiment of the present invention;

[0038] Figure 3 is a schematic structural diagram of a curved reflector provided according to an embodiment of the present invention;

[0039] Figure 4 is a schematic diagram of the installation position of a vehicle lateral detection device provided according to one embodiment of the present invention;

[0040] Figure 5 is a flow chart of a vehicle lateral environment monitoring method according to one embodiment of the present invention;

[0041] Figure 6 is a flow chart of a vehicle control method according to an embodiment of the present invention;

[0042] Figure 7 is a schematic diagram of main modules of a vehicle control device provided according to one embodiment of the present invention;

[0043] Figure 8 It is a structural diagram of a computer system suitable for implementing the vehicle control method provided by an embodiment of the present invention.

[0044] Reference numerals:

[0045] 1. Image sensor; 2. Lens; 3. Curved reflector; 4. Plane reflector; 5. Uppermost incident light; 6. Lowermost incident light; 7. Part of the vehicle side detection device exposed to the vehicle body; 8. Frontmost incident light; 9. Rearmost incident light; 10. Frontmost incident light after reflection by the curved reflector and the plane reflector; 11. Rearmost incident light after reflection by the curved reflector and the plane reflector; 12. Reflection path of the incident light; 13. First reference installation position of the vehicle side detection device; 14. Second reference installation position of the vehicle side detection device. DETAILED DESCRIPTION

[0046] The following description of exemplary embodiments of the present invention is made in conjunction with the accompanying drawings, in which various details of the embodiments of the present invention are included to facilitate understanding. These details should be considered as merely exemplary. Therefore, it should be appreciated by those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0047] It should be pointed out that, in the absence of conflict, the embodiments of the present invention and the technical features therein may be combined with each other.

[0048] It should be pointed out that the acquisition, storage, use, and processing of data in the technical solutions of the embodiments of the present invention comply with the relevant provisions of national laws and regulations.

[0049] The embodiment of the present invention provides a vehicle lateral detection device, such as Figure 1 As shown, the vehicle side detection device includes: an image sensor 1, a lens 2, a curved reflector 3 and a plane reflector 4;

[0050] The lens 2 is arranged on the side of the vehicle body;

[0051] The curved reflector 3 is arranged on the side of the lens 2 away from the vehicle body, and is used to reflect the incident light from the side of the vehicle onto the flat reflector 4;

[0052] The plane reflector 4 is disposed below the lens 2 and the curved reflector 3. The plane reflector 4 is used to reflect the reflected light received from the curved reflector 3 to the lens 2.

[0053] The lens 2 is used to send the light received from the plane reflector 4 to the image sensor 1;

[0054] The image sensor generates a side detection image of the side of the vehicle based on the received light.

[0055] Lens 2 is mounted on the side of the vehicle. The mounting location of lens 2 can be determined based on the vehicle's structure and detection requirements. For example, lens 2 can be mounted on a fender, A-pillar, or B-pillar. As a possible implementation, mounting lens 2 on the side of the vehicle near the front of the vehicle can increase the detection range of the vehicle's side detection equipment in the front.

[0056] Curved reflector 3 is a special curved surface surrounding lens 2. Its unique structure allows it to reflect all incident light within its field of view, from the front to the rear of the vehicle, onto plane reflector 4. Plane reflector 4 then reflects the light reflected from curved reflector 3 back to lens 2, thereby completing lateral detection of the vehicle.

[0057] In one embodiment of the present invention, the lower projections of the lens 2 and the curved reflector 3 at least partially fall on the plane reflector 4. The plane reflector 4 can be semicircular in shape, with a radius of 1 to 2 cm. The distance between the plane reflector 4 and the lens 2 is 2 to 3 cm. The radius of the curved reflector 3 is 1 to 3.5 cm. This structure facilitates the installation of the vehicle side detection device on the side of the vehicle body and achieves good side detection results.

[0058] Lens 2 has a spherical housing. This housing is split into two equal parts: an upper half and a lower half. The dividing line between the upper and lower halves is a horizontal line. The lower half of the housing of lens 2 is made of a transparent material so that lens 2 can receive light reflected from the plane reflector 4 below.

[0059] In one embodiment of the present invention, the incident light reflected by the curved reflector 3 includes incident light within a vertical field of view on the side of the vehicle and incident light within a horizontal field of view.

[0060] Figure 1 FIG. 1 is a schematic cross-sectional view of a vehicle side detection device according to an embodiment of the present invention. Figure 1As shown, the vehicle side detection device is installed on the right side of the vehicle body, i.e., in a rectangular position on the right side of the vehicle body. In actual application, the vehicle side detection device can also be installed on the left side of the vehicle body. Except for the portion 7 of the vehicle side detection device exposed to the vehicle body, the rest of the vehicle side detection device can be embedded in the vehicle body.

[0061] Figure 1 The area between the top incident light 5 and the bottom incident light 6 in the vertical field of view is the vertical field of view. The incident light in the vertical field of view is reflected by the curved reflector 3 and the plane reflector 4 in sequence, and is received by the lens 2 and then transmitted to the image sensor 1 through the lens 2.

[0062] Figure 2 FIG. 4 is a top view of a vehicle side detection device according to another embodiment of the present invention. Figure 2 In the top view shown, the plane reflector 4 is completely covered by the lens 2 and the curved reflector 3, so Figure 2 The top view does not reflect the plane reflector 4.

[0063] Figure 2 The area between the frontmost incident light 8 and the rearmost incident light 9 is the horizontal field of view. The incident light in the horizontal field of view is reflected by the curved reflector 3 and the plane reflector 4 in sequence and is received by the lens 2. It is then transmitted to the image sensor 1 through the lens 2. Figure 2 As shown, the frontmost incident light 10 after being reflected by the curved reflector and the plane reflector and the rearmost incident light 11 after being reflected by the curved reflector and the plane reflector can both be transmitted to the image sensor 1 through the lens 2 .

[0064] An embodiment of the present invention provides a vehicle lateral detection device. Based on the traditional vehicle lateral detection device, the image sensor 1 is moved from the center position of the side of the vehicle body to an offset position. A corresponding offset plane emitting mirror 4 is arranged below the lens 2. An arc-shaped reflector 3 is arranged around the lens. The function of the arc-shaped reflector 3 is to reflect all incident light around the lens onto the plane reflector 4 below the lens 2. The light is then reflected from the plane reflector 4 to the position of the lens 2, and finally collected and imaged on the image sensor 1 through the lens 2 in the form of pinhole imaging.

[0065] Compared with the solution that requires three cameras to complete vehicle lateral detection, the solution of the embodiment of the present invention only requires an image sensor 1, a lens 2, a curved reflector 3 and a plane reflector 4 to complete vehicle lateral detection, which can reduce the difficulty of installation and deployment of vehicle lateral detection equipment and reduce the production cost of the vehicle.

[0066] The vehicle side detection device provided by embodiments of the present invention utilizes a single imaging system. The imaging system includes a lens 2 and an image sensor 1. This single imaging system can detect the environment to the side of the vehicle. By using a high-resolution image sensor, the detection capabilities of three cameras can be achieved. The imaging system can be flexibly positioned, such as on the fender, exterior mirror, or other locations on the side of the vehicle, depending on the vehicle model.

[0067] Furthermore, existing side-view detection solutions use three cameras mounted on the vehicle's sides, requiring time synchronization between each camera. The present invention captures all lateral image information on the vehicle's side on the image sensor, eliminating the need for time synchronization between each camera. Therefore, compared to existing side-view detection solutions, the present invention reduces system design complexity and improves the efficiency and accuracy of driving strategy formulation.

[0068] To facilitate implementation of the solution of the embodiment of the present invention, the embodiment of the present invention further provides a curved reflector 3 . Figure 3 3 is a schematic structural diagram of a curved reflector provided according to an embodiment of the present invention. Figure 3 FIG. 1 shows a plurality of reflection paths 12 of incident light in the curved reflector. Figure 3 As shown, after the incident light enters the curved reflector 3, it will be reflected onto the plane reflector 4, and then reflected by the plane reflector 4 onto the lens 2, thereby completing the side detection of the vehicle.

[0069] It should be noted that Figure 3 The curved reflector 3 shown is for schematic purposes only. It is an irregular mirror designed to meet FOV (field of view) requirements. Any structure capable of reflecting both vertical and horizontal incident light to the flat reflector 4 can serve as the curved reflector 3 in the embodiments of the present invention.

[0070] The center of the vehicle body is typically where the doors are located, making it unsuitable for mounting side detection equipment. For the front, the side detection equipment needs to cover a larger lateral area to ensure detection of more objects crossing the vehicle's front. For the rear, only objects approaching the vehicle in the left and right lanes need to be detected. Therefore, it is possible to consider mounting the side detection equipment closer to the vehicle body to effectively expand its detection range in the front.

[0071] Based on the above considerations, the vehicle side detection device is installed on the fender or B-pillar of the vehicle. Figure 4 FIG. 1 is a schematic diagram of the installation position of a vehicle lateral detection device according to an embodiment of the present invention. Figure 4As shown, the first reference installation location 13 of the vehicle side detection device is located on the vehicle's fender. The second reference installation location 14 of the vehicle side detection device is located on the vehicle's B-pillar. In addition to being easy to install, these two locations also ensure that the vehicle side detection device has a larger detection range in the front and side directions.

[0072] The embodiment of the present invention provides a vehicle equipped with the above-mentioned vehicle lateral detection device. The image sensor in the vehicle lateral detection device is used to determine the vehicle's lateral detection image, formulate a reasonable driving strategy, and ensure that the target vehicle can drive normally and safely.

[0073] In addition, compared with the solution that requires three cameras to complete vehicle lateral detection, the vehicle lateral detection equipment of the embodiment of the present invention only requires an image sensor, a lens, a curved reflector and a plane reflector to complete the vehicle lateral detection, which can reduce the difficulty of installation and deployment of the vehicle lateral detection equipment and reduce the production cost of the vehicle.

[0074] Figure 5 1 is a flow chart of a method for monitoring the vehicle lateral environment according to one embodiment of the present invention. The method is implemented based on a vehicle lateral detection device provided by any of the above embodiments installed on the vehicle. The method includes the following steps S101 to S103:

[0075] In step S101 , the curved reflector and the plane reflector in the vehicle side detection device cooperate to focus the light from the side of the vehicle onto the lens in the vehicle side detection device.

[0076] The method of the embodiment of the present invention is applied to a vehicle, which is equipped with the vehicle lateral detection device provided by any of the above embodiments.

[0077] Step S102: Using a lens to provide light to an image sensor in a vehicle side detection device.

[0078] Step S103 : Using the image sensor in the vehicle side detection device to generate a side detection image of the vehicle side according to the received light.

[0079] In the solution of this embodiment of the present invention, a vehicle-mounted lateral detection device generates a lateral detection image of the vehicle and then transmits it to a server. The server then formulates a reasonable driving strategy and transmits it to the vehicle. The vehicle drives according to the driving strategy, effectively ensuring safety during driving.

[0080] Figure 62 is a flow chart of a vehicle control method according to an embodiment of the present invention. A vehicle is equipped with a vehicle lateral detection device according to any of the above embodiments. The method includes the following steps S201 to S202:

[0081] Step S201 : Acquire a lateral detection image provided by a vehicle lateral detection device, and determine a vehicle driving strategy based on the lateral detection image.

[0082] The method of the embodiment of the present invention is applied to a server. A lateral detection image is generated by a vehicle based on a vehicle lateral detection device installed on the vehicle. The vehicle sends the lateral detection image to the server.

[0083] The server determines the vehicle's driving strategy based on the lateral detection image. For example, if the lateral detection image detects an obstacle area to the side of the vehicle, the server predicts the vehicle's trajectory over a period of time. It then determines whether the vehicle's trajectory touches or overlaps the obstacle area. If so, the server determines that the vehicle should adopt an avoidance strategy.

[0084] If the vehicle's trajectory is determined to be in contact with or overlapping an obstacle, the system determines whether the vehicle meets the lane change conditions based on the vehicle's trajectory and surrounding environment information. If the vehicle meets the lane change conditions, the system triggers a lateral avoidance maneuver. If the vehicle does not meet the lane change conditions, the system controls the vehicle to slow down or stop.

[0085] If it is detected according to the lateral detection image that there is no obstacle area on the side of the vehicle, it is determined that the driving strategy of the vehicle is normal driving.

[0086] Step S202: Control the vehicle's driving according to the driving strategy.

[0087] In the solution of the embodiment of the present invention, the image sensor in the vehicle side detection device is used to determine the vehicle's side detection image. Based on the vehicle's side detection image, the server determines a driving strategy to ensure the vehicle's safe driving and sends the driving strategy to the vehicle.

[0088] Furthermore, existing lateral vehicle detection solutions require three cameras mounted on the vehicle's side, requiring time synchronization between each camera. The present invention captures all lateral vehicle image information on the image sensor, eliminating the need for time synchronization between each camera. Therefore, the present invention reduces system design complexity and improves the efficiency and accuracy of driving strategy development.

[0089] Figure 7 Schematic diagram of the main modules of a vehicle control device according to an embodiment of the present invention. The device is connected to the vehicle side detection device of any of the above embodiments installed on the vehicle. Figure 7As shown, the apparatus 700 includes:

[0090] A strategy determination module 701 is configured to obtain a lateral detection image of the vehicle provided by a vehicle lateral detection device, and determine a driving strategy of the vehicle based on the lateral detection image;

[0091] The vehicle control module 702 is used to control the vehicle driving according to the driving strategy.

[0092] An embodiment of the present invention provides an electronic device, including:

[0093] one or more processors;

[0094] The storage device is used to store one or more programs. When the one or more programs are executed by one or more processors, the one or more processors implement the method of any of the above embodiments.

[0095] An embodiment of the present invention provides a computer program product, including a computer program. When the computer program is executed by a processor, the method of any of the above embodiments is implemented.

[0096] Reference below Figure 8 , which shows a structural diagram of a computer system 800 suitable for implementing the vehicle control method provided by an embodiment of the present invention. Figure 8 The terminal device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0097] like Figure 8 As shown, the computer system 800 includes a central processing unit (CPU) 801, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 802 or a program loaded from a storage unit 808 into a random access memory (RAM) 803. Various programs and data required for the operation of the computer system 800 are also stored in the RAM 803. The CPU 801, the ROM 802, and the RAM 803 are connected to each other via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0098] The following components are connected to the I / O interface 805: an input part 806 including a keyboard, a mouse, etc.; an output part 807 including a display such as a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage part 808 including a hard disk, etc.; and a communication part 809 including a network interface card such as a LAN card, a modem, etc. The communication part 809 performs communication processing via a network such as the Internet. A drive 810 is also connected to the I / O interface 805 as necessary. A removable medium 811 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc. is attached to the drive 810 as necessary, so that a computer program read out therefrom is installed in the storage part 808 as necessary.

[0099] In particular, the processes described above with reference to the flowcharts can be implemented as a computer software program according to embodiments of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for executing the methods illustrated by the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network by the communication part 809, and / or installed from the removable medium 811. When the computer program is executed by the central processing unit (CPU) 801, the above-described functions defined in the system of the present disclosure are executed.

[0100] It should be noted that the computer-readable medium shown in the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, the computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or component. In the present application, the computer-readable signal medium can include a data signal carried in a baseband or as a part of a carrier wave, which carries computer-readable program code. Such a propagated data signal can take various forms, including but not limited to an electromagnetic signal, an optical signal or any suitable combination of the above. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, which can send, propagate or transmit a program for use by or in conjunction with an instruction execution system, device or component. The program code contained on the computer-readable medium can be transmitted by any suitable medium, including but not limited to wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0101] The flowcharts and block diagrams in the drawings illustrate the possible implementation architectures, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowcharts or block diagrams can represent a module, a program segment or a part of code containing one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in different order than that shown in the drawings. For example, two blocks that are shown in succession can actually be executed substantially in parallel, and sometimes in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams or flowcharts, and the combination of blocks in the block diagrams or flowcharts, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0102] The modules described in the embodiments of the present invention may be implemented in software or hardware. The modules described may also be provided in a processor, for example, they may be described as a strategy determination module and a vehicle control module. The names of these modules do not, in some cases, limit the modules themselves. For example, the strategy determination module may also be described as a module that "acquires a lateral detection image of the vehicle provided by a vehicle lateral detection device and determines the vehicle's driving strategy based on the lateral detection image."

[0103] As another aspect, the present invention further provides a computer-readable medium, which may be included in the device described in the above embodiments, or may exist independently without being incorporated into the device. In one embodiment, the computer-readable medium carries one or more programs, and when the one or more programs are executed by the device, the device includes:

[0104] Acquire a lateral detection image provided by a vehicle lateral detection device, and determine a vehicle driving strategy based on the lateral detection image;

[0105] Control vehicle driving according to driving strategy.

[0106] According to the technical solution of an embodiment of the present invention, a vehicle is equipped with a vehicle lateral detection device. The image sensor in the vehicle lateral detection device determines a lateral detection image of the vehicle. Based on the lateral detection image, a server determines a driving strategy to ensure normal vehicle operation and sends the driving strategy to the vehicle.

[0107] Furthermore, existing lateral vehicle detection solutions require three cameras mounted on the vehicle's side, requiring time synchronization between each camera. The present invention captures all lateral vehicle image information on the image sensor, eliminating the need for time synchronization between each camera. Therefore, the present invention reduces system design complexity and improves the efficiency and accuracy of driving strategy development.

[0108] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A vehicle lateral detection device, comprising: Image sensors, lenses, curved mirrors and flat mirrors; The lens is arranged on the side of the vehicle body; The curved reflector is arranged on a side of the lens away from the vehicle body, and is used to reflect incident light from the side of the vehicle onto the flat reflector; The plane reflector is arranged below the lens and the curved reflector, and the plane reflector is used to reflect the reflected light received from the curved reflector to the lens; The lens is used to send the light received from the plane reflector to the image sensor; The image sensor generates a lateral detection image of the lateral direction of the vehicle according to the received light.

2. The vehicle lateral detection device according to claim 1, characterized in that: The lower projections of the lens and the curved reflector at least partially fall on the plane reflector.

3. The vehicle lateral detection device according to claim 1 or 2, characterized in that: The radius of the plane reflector is 1 to 2 cm.

4. The vehicle lateral detection device according to claim 1 or 2, characterized in that: The distance between the plane reflector and the lens is 2 to 3 cm.

5. The vehicle lateral detection device according to claim 1 or 2, characterized in that: The radius of the arc-shaped reflector is 1 to 3.5 cm.

6. The vehicle lateral detection device according to claim 1, characterized in that: The lower half of the housing of the lens is made of transparent material so that the lens can receive the reflected light reflected by the plane reflector.

7. The vehicle lateral detection device according to claim 1, characterized in that: The incident light reflected by the arc-shaped reflector includes: incident light within a vertical field of view on the side of the vehicle and incident light within a horizontal field of view.

8. The vehicle lateral detection device according to claim 1, characterized in that: The vehicle lateral detection device is installed at the position of the fender or B-pillar of the vehicle.

9. A vehicle, characterized in that: The vehicle is equipped with the vehicle lateral detection device according to any one of claims 1 to 8.

10. A vehicle lateral environment monitoring method, characterized in that: The vehicle lateral detection device according to any one of claims 1 to 8 is implemented based on vehicle installation, comprising: Utilizing the curved reflector and the plane reflector in the vehicle side detection device to cooperate, the light from the side of the vehicle is focused onto the lens in the vehicle side detection device; Using the lens to provide the light to an image sensor in the vehicle side detection device; An image sensor in the vehicle lateral detection device is used to generate a lateral detection image of the vehicle lateral direction according to the received light.

11. A vehicle control method, characterized in that: A vehicle is equipped with the vehicle lateral detection device according to any one of claims 1 to 8, comprising: Acquiring a lateral detection image provided by the vehicle lateral detection device, and determining a driving strategy of the vehicle based on the lateral detection image; The vehicle is controlled to travel according to the driving strategy.

12. A vehicle control device, characterized in that: The vehicle lateral detection device according to any one of claims 1 to 8 is communicatively connected to the vehicle, comprising: a strategy determination module, configured to obtain a lateral detection image of the vehicle provided by the vehicle lateral detection device, and determine a driving strategy for the vehicle based on the lateral detection image; A vehicle control module is used to control the driving of the vehicle according to the driving strategy.

13. An electronic device, characterized in that: include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to claim 10 or 11.

14. A computer-readable medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to claim 10 or 11 is implemented.

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