Two-wheeled vehicle and blind zone early warning method thereof

Abstract

The application discloses a two-wheeled vehicle and a blind area early warning method thereof, and relates to the technical field of vehicles.The method comprises the following steps: an image data of a rear area of a two-wheeled vehicle is acquired; if a rear target vehicle exists in the rear area of the two-wheeled vehicle, position information of the rear target vehicle is recognized; when the position information meets a preset prompt trigger area, a man-machine interface device displays prompt information, and the prompt information at least comprises image data of the rear target vehicle. The vehicle in a blind area is displayed in real time in the form of image data, blind area early warning is more diversified and intuitive, and the safety of driving is improved.

Description

Technical Field

[0001] This invention relates to the field of vehicles, specifically to a two-wheeled vehicle and a blind spot warning method thereof. Background Technology

[0002] Two-wheeled vehicles are widely used in urban driving due to their flexibility and convenience. However, they also have blind spots, which can easily lead to accidents. For example, in areas outside the rearview mirror's field of vision, drivers may not be able to see pedestrians or vehicles behind them when reversing or moving at low speeds, resulting in the risk of scraping or running over them. Vehicles to the side and rear may be in areas not covered by the rearview mirror; if drivers do not look back when changing lanes, they are prone to colliding with vehicles in adjacent lanes. Therefore, there is an urgent need for a method to warn drivers of blind spots on two-wheeled vehicles to ensure their driving safety. Summary of the Invention

[0003] To address the aforementioned problems, this invention provides a highly safe two-wheeled vehicle and a blind spot warning method thereof.

[0004] In a first aspect, this application provides a two-wheeled vehicle, including a frame, a body panel, a running system, a power system, and an electrical system; the body panel at least partially covers the frame; the running system at least partially lies beneath the frame; the power system is at least partially supported by the frame to drive the running system; the electrical system is at least used to implement blind spot detection functionality for the two-wheeled vehicle; the electrical system includes an external environment detection device and a human-machine interface device; the external environment detection device is at least capable of acquiring image data behind the two-wheeled vehicle, and if a target vehicle exists behind the two-wheeled vehicle, it identifies the position information of the target vehicle; when the position information matches a preset prompt triggering area, the external environment detection device outputs prompt information; the prompt information at least includes image data of the target vehicle; the human-machine interface device is at least capable of responding to and displaying the prompt information.

[0005] Preferably, the external environment detection device includes a rear camera module for acquiring the image data and a rear radar module for acquiring the location information; the detection area of ​​the rear radar is divided into several prompt trigger areas, including a direct rear trigger area, a right rear trigger area, and a left rear trigger area.

[0006] Preferably, the center line of the rearmost trigger area coincides with the longitudinal center axis of the vehicle frame; the right rearmost trigger area is located to the right of the rearmost trigger area and is flush with the end of the rearmost trigger area closest to the two-wheeled vehicle; the left rearmost trigger area is located to the left of the rearmost trigger area and is flush with the end of the rearmost trigger area closest to the two-wheeled vehicle.

[0007] Preferably, the lengths of the right rear trigger area and the left rear trigger area are both shorter than the length of the front rear trigger area.

[0008] Preferably, the image data acquired by the rear camera module is divided into several regional image data; when any rear target vehicle in the regional image data is in the prompt triggering area, the human-machine interface device displays the regional image data.

[0009] Preferably, the human-machine interface device includes a display body, and the prompt information is displayed on the display body in the form of a pop-up window.

[0010] Preferably, the display body is used to display the driving information of the two-wheeled vehicle, and when the display body needs to display the prompt information, the prompt information can partially cover the driving information.

[0011] Preferably, when the target vehicle behind is in the prompt triggering area, the prompt information is displayed as a pop-up window on the main display.

[0012] Preferably, when the target vehicle is located in the directly rear triggering area, the prompt information is located in the center of the display body; when the target vehicle is located in the right rear triggering area, the prompt information is located on the right side of the display body; and when the target vehicle is located in the left rear triggering area, the prompt information is located on the left side of the display body.

[0013] Secondly, this application also provides a blind spot warning method for a two-wheeled vehicle, the two-wheeled vehicle including an electrical system capable of at least realizing blind spot detection; the electrical system including an external environment detection device and a human-machine interface device; the blind spot warning method includes: acquiring image data behind the two-wheeled vehicle; if there is a target vehicle behind the two-wheeled vehicle, identifying the position information of the target vehicle; when the position information matches a preset prompt triggering area, the human-machine interface device displays prompt information, the prompt information including at least the image data of the target vehicle.

[0014] This application describes a two-wheeled vehicle that acquires rear-view image data. If a target vehicle is located behind the two-wheeled vehicle, its position information is identified. When the position information matches a preset trigger area, a human-machine interface device displays a prompt message, which includes at least the image data of the target vehicle. By displaying vehicles in the blind spot in real time through image data, blind spot warnings become more diverse and intuitive, improving driving safety. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a three-dimensional schematic diagram of a two-wheeled vehicle provided by the present invention.

[0017] Figure 2 A system block diagram of the driving assistance system provided by the present invention.

[0018] Figure 3 A schematic diagram of the detection range of the external environment detection device provided by the present invention.

[0019] Figure 4 A flowchart of the vehicle following method provided by the present invention.

[0020] Figure 5 A flowchart of the main target selection method provided by the present invention.

[0021] Figure 6 This is one of the application scenarios of the main target selection method provided by the present invention.

[0022] Figure 7 This is the second schematic diagram illustrating the application scenario of the main target selection method provided by the present invention.

[0023] Figure 8 A flowchart of the blind spot warning method provided by the present invention.

[0024] Figure 9 This is a schematic diagram of the prompting trigger area in the blind spot prompting method provided by the present invention.

[0025] Figure 10 A schematic diagram illustrating the application scenario of the blind spot warning method provided by this invention.

[0026] Figure 11 This is a schematic diagram of the image data acquired in the blind spot warning method provided by the present invention.

[0027] Figure 12 This is a schematic diagram illustrating the segmentation of image data into left and right image data in the blind spot warning method provided by the present invention.

[0028] Figure 13 This is a schematic diagram illustrating the blind spot warning method provided by the present invention, in which the content displayed on the target display subject exists only in the trigger area directly behind the target.

[0029] Figure 14This is a schematic diagram illustrating the blind spot warning method provided by the present invention, in which only the right rear trigger area contains the content displayed on the target display subject.

[0030] Figure 15 This is a schematic diagram illustrating the blind spot warning method provided by the present invention, in which only the left rear trigger area contains the content displayed on the target display subject.

[0031] Figure 16 This is a schematic diagram illustrating the content displayed on the target display subject in the blind spot prompting method provided by the present invention, where two or more trigger areas exist. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] like Figure 1 As shown, a two-wheeled vehicle 100 includes a frame 11, a body panel 12, a running system 13, a power system 14, and a steering system 15. The frame 11 forms the basic framework of the two-wheeled vehicle 100 and supports other components of the two-wheeled vehicle 100. The body panel 12 at least partially covers the frame 11. The running system 13 is at least partially disposed below the frame 11 and includes a front wheel and a rear wheel disposed on the underside of the frame 11. The power system 14 of the two-wheeled vehicle 100 is at least partially supported by the frame 11 and provides power for the operation of the two-wheeled vehicle 100. At least one of the front wheel and the rear wheel is driveably connected to the power system 14. The power system 14 of the two-wheeled vehicle 100 can be an internal combustion engine, an electric motor, or a combination of both. The two-wheeled vehicle 100 also includes a saddle assembly 121, which is supported by the frame 11 and is at least partially located above the power system 14; a steering system 15 is disposed on the front of the frame 11 and is used to control the direction of movement of the two-wheeled vehicle 100. The two-wheeled vehicle can be a motorcycle, electric motorcycle, electric bicycle, or electric moped, etc.

[0034] For ease of description of the technical solutions in this application, the following are also defined: Figure 1 The directions shown are front, back, left, right, up, and down. The front-back direction refers to the length of the two-wheeled vehicle 100, the left-right direction refers to the width of the two-wheeled vehicle 100, and the up-down direction refers to the height of the two-wheeled vehicle 100. It should be noted that the directions defined in this embodiment refer to the directions of the two-wheeled vehicle 100 when it is on a horizontal road surface.

[0035] The two-wheeled vehicle 100 also includes an electrical system 20 to enhance the safety and convenience of the driver during driving. In this embodiment, the electrical system 20 is capable of implementing at least two of the various driver assistance functions: Adaptive Cruise Control (ACC) and Blind Spot Detection (BSD).

[0036] See Figure 2 The electrical system 20 includes an external environment detection device 21, a vehicle sensing device 22, an auxiliary driving control device 23, a human machine interface (HMI) device 24, and a drive control device 25.

[0037] The external environment detection device 21 can acquire information about target objects in the external environment; the vehicle sensor device 22 can acquire vehicle information of the two-wheeled vehicle 100 itself; the auxiliary driving control device 23 receives information about external target objects acquired by the external environment detection device 21 and vehicle information of the two-wheeled vehicle 100 acquired by the vehicle sensor device 22, and outputs auxiliary control signals to the drive control device 25 and the human-machine interface device 24 based on the calculation and analysis results of the above information; the drive control device 25 controls the torque signal output by the power system 14 under the auxiliary control signal; the human-machine interface device 24 serves as the interface for human-machine interaction, providing prompts to the driver and allowing the driver to perform mode switching operations.

[0038] It should be noted that, Figure 2 The structure shown is just one example; you can omit part of the structure or add other structures.

[0039] like Figure 2 As shown, the external environment detection device 21 includes at least a front radar module 211 and a front camera module 212. The front radar module 211 and the front camera module 212 cooperate to identify the front target vehicle in the front detection area and acquire the lane information, lateral distance information and speed information of the front target vehicle.

[0040] The front radar module 211 and the front camera module 212 are basically installed at the front of the two-wheeled vehicle 100 and are used to acquire information about target objects in front of the two-wheeled vehicle 100. The front radar module 211 and the front camera module 212 are the main external environment detection devices for realizing the ACC function. The rear radar module 213 and the rear camera module 214 are basically installed at the rear of the two-wheeled vehicle 100 and are used to acquire information about target objects behind the two-wheeled vehicle 100. The side radar module 215 and the side camera module 216 are basically installed on both sides of the two-wheeled vehicle 100 and are used to acquire information about target objects on the sides of the two-wheeled vehicle 100.

[0041] Specifically, the vertical centerline of the front radar module 211 intersects the longitudinal centerline of the frame 11, and the front radar module 211 is located above the front wheel, so that the front radar module 211 can obtain a detection range symmetrical about the longitudinal centerline of the frame 11.

[0042] The front radar module 211 employs millimeter-wave radar, such as a 77GHz millimeter-wave radar. The front radar module 211 can emit electromagnetic waves at a preset angle. When these waves encounter a target object, they are reflected, generating an echo. The receiving antenna of the front radar module 211 captures and analyzes the reflected echo signal to extract effective information about the target object. This effective information includes at least the distance between the target object and the front of the vehicle, the speed of the target object, the angle between the target object and the front of the vehicle, and the classification information of the target object.

[0043] The distance information between the target object in front and the front of the vehicle is calculated using the time difference between the transmitted and received signals by the front radar module 211. The speed information of the target object is determined by the front radar module 211 using the Doppler effect, analyzing the frequency changes of the reflected signal. The angle information between the target object and the front of the vehicle is determined by the front radar module 211 using the phase difference of the received signals from the antenna array. For target detection and classification, the front radar module 211 analyzes whether the reflected signal constitutes a target point cloud, and based on the distance, speed, acceleration, and other information of the point cloud, associates multiple point clouds with similar conditions to form a target feature, thereby detecting and classifying the target, such as distinguishing pedestrians and vehicles. Furthermore, the front radar module 211 can also obtain the longitudinal and lateral distance information between the target object and the vehicle using the distance information and the angle information between the target object and the front of the vehicle.

[0044] The vertical centerline of the front camera module 212 intersects the longitudinal centerline of the frame 11, and the front camera module 212 is located above the front wheel, so that the front radar module 211 can obtain a shooting range symmetrical about the longitudinal centerline of the frame 11.

[0045] The front camera module 212 employs an auxiliary driving camera, such as a telephoto auxiliary driving camera. This camera can capture images of objects 100 degrees in front of the two-wheeled vehicle, outputting high-resolution frontal image data. Simultaneously, the auxiliary driving camera can perform image processing and recognition algorithms on the captured frontal image data to output information about the type and location of the target object, such as vehicles, pedestrians, lane lines, and traffic signs. Furthermore, to reduce the impact of vehicle vibrations on the image clarity captured by the auxiliary driving camera, optical image stabilization technology can be integrated to output stable image data.

[0046] See Figure 3 The detection area of ​​the front radar module 211 is a fan-shaped area formed by the front area S1 and the middle area S3; the shooting range of the front camera module 212 is a fan-shaped area formed by the left and right side areas S2 and the middle area S3; specifically, the maximum detection range of the front radar module 211 can reach 200 meters, and the horizontal detection field of view angle is between 28 degrees and 35 degrees.

[0047] The front camera module 212 has a clear identification range of 80 to 125 meters, and a horizontal field of view of 45 to 55 degrees. Area S3 is the area jointly covered by the front radar module 211 and the front camera module 212, and can simultaneously acquire radar position information and image data. Therefore, area S3 is used as the front detection area for the ACC function. Of course, the front detection area for the ACC function can be adjusted to a range smaller or larger than area S3 according to the actual situation.

[0048] In one embodiment, the maximum detection distance of the front detection area S3 of the ACC function is 100 meters, and the horizontal angle of the detection coverage is 30 degrees.

[0049] The vehicle sensing device 22 includes a wheel speed sensor 221 and an inertial measurement unit 222, which acquire speed-related information of the vehicle. The driver assistance control device 23 acquires lane information and lateral distance information based on the external environment detection device 21 and the vehicle sensing device 22, and calculates the acceleration difference using the speed-related information of the target vehicle in front and the speed-related information of the vehicle itself. The driver assistance control device 23 is configured to select a primary target vehicle from multiple target vehicles based on a preset selection rule for the primary target vehicle, considering lane information, acceleration difference, and lateral distance information, with the priority of lane information, acceleration difference, and lateral distance information decreasing sequentially in the preset selection rule.

[0050] The ACC function includes a following mode and a cruise mode. The following mode means that when the external environment detection device 21 detects a target vehicle in front of the two-wheeled vehicle 100, the driver assistance control device 23 will increase or decrease the speed of the two-wheeled vehicle 100 as needed and maintain a certain following distance from the target vehicle. The cruise mode means that when the external environment detection device 21 detects that there is no vehicle in front of the two-wheeled vehicle, the driver assistance control device 23 will control the two-wheeled vehicle 100 to maintain a set cruise speed according to the road conditions.

[0051] like Figure 4 As shown, in order to achieve the above-mentioned ACC following mode, this application discloses an adaptive cruise control method, including:

[0052] Step S110: Select the primary target vehicle for adaptive cruise based on the primary target selection strategy.

[0053] Step S120: Based on the acquired speed information of the main target vehicle and the distance information between the two-wheeled vehicle and the main target vehicle, calculate the following acceleration value of the vehicle.

[0054] Step S130: Based on the following acceleration value of the two-wheeled vehicle, calculate the ACC torque and output the ACC torque request.

[0055] Step S140: Perform torque arbitration on the ACC torque request and output the arbitration torque based on the torque arbitration strategy.

[0056] Step S150: The two-wheeled vehicle responds to the arbitration torque.

[0057] Using the aforementioned following method, the two-wheeled vehicle 100 can select a suitable target vehicle as the primary target vehicle from among multiple target vehicles during its operation. By using the distance information and acceleration difference with the primary target vehicle, the acceleration value of the two-wheeled vehicle 100 is controlled to maintain a set following distance. Simultaneously, the ACC torque request requires torque arbitration at the drive control device 25. In ACC following mode, the driver can also control the speed of the two-wheeled vehicle 100 to adapt to various scenarios.

[0058] Once the primary target vehicle is identified, its speed information and the distance between the two-wheeled vehicle 100 and the primary target vehicle can be obtained by the external environment detection device 21. In this scenario, the driver assistance control device 23, combined with the acceleration information of the two-wheeled vehicle 100, can calculate the required following acceleration value for the two-wheeled vehicle 100.

[0059] In step S120, when the distance between the two-wheeled vehicle 100 and the main target vehicle is greater than the preset following distance, the driver assistance control device 23 will obtain the following acceleration based on the relative speed between the two-wheeled vehicle 100 and the main target vehicle, and gradually decrease the distance between the two-wheeled vehicle and the main target vehicle. When the distance between the two-wheeled vehicle 100 and the main target vehicle is less than the preset following distance, the driver assistance control device 23 will obtain the following acceleration based on the relative speed between the two-wheeled vehicle 100 and the main target vehicle, and gradually increase the distance between the two-wheeled vehicle 100 and the main target vehicle.

[0060] In step S120, after the assisted driving control device 23 obtains the following acceleration value of the vehicle, the vehicle speed control module 232 of the assisted driving control device 23 calculates the ACC torque and outputs the ACC torque request to the drive control device 25.

[0061] In step S130, the torque arbitration module of the drive control device 25 arbitrates the torque requests from the driver assistance control device 23, the accelerator lever, and the two-wheeled vehicle ABS. The torque arbitration strategy prioritizes safe driving, followed by non-misoperational manual driving, and then autonomous driving.

[0062] In torque arbitration, safety-related torque requests have the highest priority. This means that torque requests from safety systems, such as ABS (Anti-lock Braking System) and / or TC (Traction Control System), have the highest priority and must be responded to first to ensure vehicle safety. Manual driving torque requests have the second highest priority, meaning that during ACC (Adaptive Cruise Control), torque requests can be used to control the speed of the two wheels of the vehicle by controlling the accelerator or brake levers; however, very short or minimal accelerator lever rotations are considered misoperations and will not be responded to in torque arbitration. Autonomous driving has the third highest priority and is only executed if neither safe driving nor manual driving requests are made.

[0063] In summary, the ACC function of the two-wheeled vehicle 100 can be realized through the detection of the external environment detection device 21 and the control of the auxiliary driving control device 23.

[0064] Furthermore, to enable two-wheeled vehicles to select a suitable primary target vehicle from among multiple target vehicles, and to avoid frequent changes in the primary target selection, which could negatively impact the driver's experience, such as... Figure 5 As shown, this application discloses a method for selecting a vehicle owner target, including:

[0065] Step S210: Identify the target vehicle in the front detection area.

[0066] Step S220: Select the target vehicle in front in the same lane as the target candidate vehicle.

[0067] Step S230: Determine whether there is only one target vehicle to be selected.

[0068] If the judgment result is yes, then the process ends after executing step S231; if the judgment result is no, then the process ends after executing step S232.

[0069] Step S231: Select the target vehicle as the primary target vehicle.

[0070] Step S232: Based on the speed-related information of the target vehicle and the speed-related information of the two-wheeled vehicle, calculate the acceleration difference between the two-wheeled vehicle and the target vehicle.

[0071] Step S240: Determine whether there is a target vehicle whose acceleration difference is lower than a preset acceleration difference threshold.

[0072] If the judgment result is yes, then proceed to step S250 after step S241; if the judgment result is no, then proceed to step S242.

[0073] Step S241: Select a target vehicle with an acceleration difference lower than the preset threshold from multiple target vehicles.

[0074] Step S242: Select the target vehicle with the smallest acceleration difference from multiple target vehicles.

[0075] Step S250: Determine whether there is only one target vehicle to be selected.

[0076] If the judgment result is yes, then the process ends after executing step S251; if the judgment result is no, then the process ends after executing step S252.

[0077] Step S251: Select the target vehicle as the primary target vehicle.

[0078] Step S252: Based on the distance information of the target candidate vehicle, calculate the lateral distance between the target candidate vehicle and the two-wheeled vehicle, and select the target candidate vehicle with the smallest lateral distance from multiple target candidate vehicles as the main target vehicle.

[0079] Specifically, the preset selection rules for the primary target vehicle include preset selection rules for lane information, preset selection rules for acceleration difference, and preset selection rules for lateral distance information.

[0080] The lane information selection rule is as follows: when there are target vehicles in front in multiple lanes or only in the same lane, select one target vehicle in front in the same lane as the primary target vehicle.

[0081] The preset selection rule for acceleration difference is as follows: when there are multiple target vehicles in the same lane as the two-wheeled vehicle, the target vehicle with an acceleration difference value lower than the preset acceleration difference threshold is selected as the main target vehicle. When there are no target vehicles in front with an acceleration difference value lower than the preset acceleration difference threshold, the target vehicle with the smallest acceleration difference threshold value is selected as the main target vehicle.

[0082] The preset selection rule for lateral distance information is: when there are multiple front target vehicles with acceleration differences lower than the preset acceleration difference threshold, the front target vehicle with the smallest lateral distance information is selected as the main target vehicle.

[0083] In step S210, refer to Figure 3 The external environment detection device 21 acquires the front target vehicle in the front detection area S3 through the front radar module 211 and the front camera module 212.

[0084] In one embodiment of step S220, a primary target vehicle is selected based on lane information and preset selection rules. The front radar module 211 calculates the lateral distance between the primary target vehicle and the vehicle itself. If the lateral distance between the primary target vehicle and the vehicle itself is less than a target lateral distance threshold, it is determined that the primary target vehicle and the vehicle belong to the same lane; otherwise, they do not belong to the same lane. Further, the lateral distance calculated by the front radar module 211 is the minimum lateral distance between the primary target vehicle and the vehicle itself, i.e., the lateral distance between the lateral centerline of the primary target vehicle and the vehicle itself. The target lateral distance threshold is an adjustable value that can be adjusted according to actual conditions. The target lateral distance threshold is set within the range of 1.1m to 1.8m.

[0085] In one embodiment of step S220, the front camera module 212 performs image processing and recognition algorithms on the front image data it captures to identify a target vehicle in front that is within the lane lines as a vehicle in the same lane. Simultaneously, in this embodiment, a target lateral distance threshold set by the front radar module 211 can be used to further filter vehicles in the same lane.

[0086] In one embodiment of step S220, the external environment detection device 21 further includes a rear camera module 214. The front radar module 211 calculates the lateral distance between the target vehicle in front and the vehicle itself. The rear camera module 214 performs image processing and recognition algorithms on the rear image data it captures to identify rear lane lines. Based on the distances of the left and right rear lane lines from the center line, it adjusts the target lateral distance thresholds on the left and right sides of the vehicle. For example, if the rear camera module 214 identifies rear lane lines, and the left lane line is 1.5 meters from the center line and the right lane line is 2 meters from the center line, then the target lateral distance threshold on the left side of the vehicle is adjusted to 1.5 meters, and the target lateral distance threshold on the right side of the vehicle is adjusted to 1.8 meters.

[0087] The external environment detection device 21 also includes a rear radar 213. The vertical centerline of the rear radar module 213 intersects the longitudinal centerline of the frame 11, and the rear radar module 213 can be located below the taillights, so that the rear radar module 213 can obtain a shooting range symmetrical about the longitudinal centerline of the frame 11.

[0088] Specifically, the rear radar module 213 employs millimeter-wave radar, such as a 77GHz millimeter-wave radar. The rear radar module 213 can emit electromagnetic waves at a preset angle. When these waves encounter a target object, they are reflected, generating an echo. The receiving antenna of the rear radar module 213 captures the reflected echo signal. The signal processing unit of the rear radar module 213 analyzes the received echo signal and extracts valid information about the rear target object. This valid information includes at least the distance between the target object and the rear of the vehicle, the speed of the target object, the angle between the target object and the rear of the vehicle, and the classification information of the target object. Since the method by which the rear radar module 213 acquires valid information is the same as that of the front radar module 211, it will not be described further.

[0089] The vertical centerline of the rear camera module 214 coincides with the longitudinal centerline of the frame 11. The rear camera module 214 can be located below the taillight, so that the rear camera module 214 can obtain a shooting range symmetrical about the longitudinal centerline of the frame 11.

[0090] The rear camera module 214 can employ a multi-purpose camera that combines blind spot detection (BSD) and dashcam functionality. The multi-purpose camera captures images of objects behind the two-wheeled vehicle 100, outputting high-resolution rear image data. Simultaneously, the rear camera module 214 can perform image processing and recognition algorithms on the captured rear image data to output the type and location information of the target object. Furthermore, the video stream data output by the rear camera module 214 can also be used for dashcam recording or real-time monitoring of the rear of the two-wheeled vehicle 100.

[0091] See Figure 3 The detection area of ​​the rear radar module 213 is the outer fan-shaped area S4; the shooting range of the rear camera module 214 is the middle fan-shaped area S5. Specifically, the detection area of ​​the rear radar module 213 can detect up to 80 meters using the long-range recognition range of the radar, and the horizontal detection field of view is between 145 degrees and 155 degrees. The shooting range of the front camera module 212 is clearly visible at a maximum distance of about 30 meters, and the horizontal field of view of the shooting range is usually between 115 degrees and 120 degrees.

[0092] Reference Figure 6 Two-wheeled vehicle C1 is traveling in the middle lane. In step S210, two-wheeled vehicle C1 detects two-wheeled vehicles C2, C3, and C4 in the front detection area S3. In step S220, it is determined that two-wheeled vehicle C3 and two-wheeled vehicle C1 are in the same lane, and two-wheeled vehicle C3 is selected as the target vehicle. Then, in step S230, it is determined that the only target vehicle is two-wheeled vehicle C3. Therefore, in step S231, two-wheeled vehicle C3 is selected as the primary target vehicle for two-wheeled vehicle C1.

[0093] Reference Figure 7 Two-wheeled vehicle C1 is traveling in the middle lane. In step S210, two-wheeled vehicle C1 detects two-wheeled vehicles C2, C3, C4, and C5 in the front detection area S3. In step S220, it is determined that two-wheeled vehicle C3, two-wheeled vehicle C5, and two-wheeled vehicle C1 are in the same lane, and two-wheeled vehicles C3 and C5 are selected as target vehicles. In step S230, it is determined that the target vehicles include two-wheeled vehicles C3 and C5, not just one. In step S232, the acceleration differences between two-wheeled vehicle C1 and two-wheeled vehicles C3 and C5 in the same lane need to be obtained separately.

[0094] In one embodiment of step S232, the front radar module 211 acquires the speed information of the target vehicle. Specifically, the front radar module 211 utilizes the Doppler effect to determine the current speed information v of the target vehicle by analyzing the frequency changes of the reflected signal. front (t), and continuously acquires the current speed information v of the target candidate vehicle at measurement time intervals of Δt. front (t+Δt). The inertial measurement unit 222 acquires the current longitudinal acceleration information a of the vehicle. self (t). The function of calculating the acceleration difference between the vehicle and the target vehicle is performed by the driver assistance control device 23, which continuously acquires the current speed information v of the target vehicle. front (t) and the vehicle's current acceleration information a self(t), and the acceleration difference a of the target vehicle is calculated using the acceleration difference formula (1-1). diff (t).

[0095]

[0096] In one embodiment of step S232, the front radar module 211 acquires the speed information of the target vehicle. Specifically, the front radar module 211 utilizes the Doppler effect to determine the current speed information v of the target vehicle by analyzing the frequency changes of the reflected signal. front (t), and continuously acquires the current speed information v of the target candidate vehicle at measurement time intervals of Δt. front (t+Δt). Wheel speed sensor 221 acquires the vehicle's speed information, and wheel speed sensor 221 acquires the vehicle's current speed information v. self (t), and continuously acquire the vehicle's current speed information v at measurement time intervals of Δt. self (t+Δt). The calculation of the acceleration difference between the vehicle and the target vehicle is performed by the driver assistance control device 23, which continuously acquires the current speed information v of the target vehicle. front (t) and the vehicle's current speed information v self (t), and calculate the current acceleration value a of the vehicle using the acceleration difference formula (1-2). self (t).

[0097]

[0098] And the acceleration difference 'a' between the target vehicle and the vehicle itself is obtained using the acceleration difference formula (1-3). diff (t).

[0099]

[0100] Since the acceleration values ​​of the preceding vehicle and the driving vehicle are instantaneous, their values ​​will change during the measurement time interval, making it impossible to achieve perfect accuracy. Therefore, an acceleration difference threshold is built into the driver assistance control device 23. This threshold provides a range of acceleration differences, within which values ​​can be considered as being at the same acceleration as the driving vehicle. In this embodiment, the acceleration difference threshold range is 0.25-0.5 m / s². 2 Preferably, the acceleration difference threshold is 0.3 m / s². 2 .

[0101] Continue to refer to Figure 7After calculating the acceleration differences between two-wheeled vehicles C1 and C3, and between two-wheeled vehicles C1 and C5 in step S232, the process proceeds to step S240. Based on a preset selection rule for acceleration differences, the acceleration differences between the two vehicles are compared with acceleration difference thresholds. For ease of understanding, three scenarios are listed below.

[0102] In the first scenario, the acceleration difference between the two-wheeled vehicles C3 is 0.24 m / s². 2 The acceleration difference of the two-wheeled vehicle C5 is 0.28 m / s². 2 The difference in acceleration between the two is less than the acceleration difference threshold of 0.3 m / s². 2 In step S240, it is determined that the acceleration difference of the target candidate vehicles is lower than a preset acceleration difference threshold. Then, proceed to step S241, where both two-wheeled vehicles C3 and C5 are selected as target candidate vehicles.

[0103] In the second scenario, the acceleration difference between the two-wheeled vehicles C3 is 0.24 m / s². 2 The acceleration difference of the two-wheeled vehicle C5 is 0.36 m / s². 2 Only the acceleration difference of the two-wheeled vehicle C3 is less than the acceleration difference threshold of 0.3 m / s². 2 In step S240, it is determined that the acceleration difference of a target candidate vehicle is lower than a preset acceleration difference threshold. Then, proceed to step S241, and select the two-wheeled vehicle C3 as the target candidate vehicle.

[0104] In the third scenario, the acceleration difference between the two-wheeled vehicles C3 is 0.32 m / s². 2 The acceleration difference of the two-wheeled vehicle C5 is 0.36 m / s². 2 The acceleration difference between two-wheeled vehicles C3 and C5 is greater than the acceleration difference threshold of 0.3 m / s². 2 In step S240, it is determined that there is no target vehicle whose acceleration difference is lower than a preset acceleration difference threshold. Then, in step S242, the two-wheeled vehicle C3 with the smallest acceleration difference is selected as the target vehicle.

[0105] In step S250, it is determined whether there is only one target vehicle. Therefore, in both the second and third cases described above, only the two-wheeled vehicle C3 is a target vehicle, so the process proceeds to step S251, where the two-wheeled vehicle C3 is selected as the primary target.

[0106] In the first scenario, both two-wheeled vehicles C3 and C5 are considered as target vehicles. In step S252, the lateral distances between the target vehicles and the vehicle are calculated, and the vehicle with the smallest lateral distance is selected as the primary target. This requires calculating the lateral distances between two-wheeled vehicle C3 and the vehicle's own two-wheeled vehicle C1, as well as the lateral distances between two-wheeled vehicle C5 and the vehicle's own two-wheeled vehicle C1.

[0107] Reference Figure 7 The front radar module 211 calculates the lateral distance D1 between the centerline of two-wheeled vehicle C3 and the centerline of its own two-wheeled vehicle C1, and the lateral distance D2 between the centerline of two-wheeled vehicle C5 and the centerline of its own two-wheeled vehicle C1, using the distance information between the target vehicle and the front of its own vehicle, as well as the angle information between the target vehicle and the front of its own vehicle. The vehicle planning module compares the lateral distances D1 and D2 and selects the two-wheeled vehicle C5, which has the smallest lateral distance, as the primary target.

[0108] In summary, this primary target selection method improves the driving experience by sequentially reducing the priority of lane information, acceleration difference, and lateral distance information of the target vehicle in the preset selection rules. This ensures that a suitable primary target vehicle is selected while also preventing a sudden change in the acceleration of the two-wheeled vehicle after the primary target vehicle is selected.

[0109] The blind spot detection function relies on the coordinated operation of sensors at the rear of the two-wheeled vehicle; it can monitor the movement of surrounding vehicles in blind spots that are not visible to the driver and proactively alert the driver to help them make safe driving decisions.

[0110] like Figure 8 As shown, this application discloses a blind spot warning method, including:

[0111] Step S510: Determine multiple rear areas of the two-wheeled vehicle 100 as prompt trigger areas.

[0112] Step S520: Obtain the location information of the target vehicle 100 meters behind the two-wheeled vehicle.

[0113] Step S530: When the target vehicle behind enters the prompt trigger area, the video stream data composed of the image data of the corresponding area is acquired.

[0114] Step S540: Combine the video stream data and the location information of the target vehicle behind to generate prompt video data.

[0115] Step S550: Display the prompt video data.

[0116] like Figure 2 As shown, the rear radar module 213 acquires the position information of the target vehicle behind and determines multiple rear areas of the two-wheeled vehicle 100 as prompt trigger areas; the rear camera module 214 acquires video stream data composed of image data of the area behind the two-wheeled vehicle 100 when the target vehicle enters the prompt trigger area. The driver assistance control device 23 combines the video stream data and the position information of the target vehicle behind to generate prompt video data; the human-machine interface device 24 includes a display body 241, which is used to display the prompt video data.

[0117] In step S510, the trigger area is indicated by dividing the detection area of ​​the rear radar module 213; for example... Figure 9 As shown, the trigger areas include the rear trigger area S41, the right rear trigger area S42, and the left rear trigger area S43.

[0118] The rear triggering area S41 is located directly behind the two-wheeled vehicle C1. The rear triggering area S41 is a rectangle whose center line coincides with the longitudinal center axis of the two-wheeled vehicle 100. The width of the rear triggering area S41 is 3.6 meters, which is approximately the same as the width of the lane. The length of the rear triggering area S41 is set between 40 and 55 meters, with the preferred length being 50 meters.

[0119] The right rear trigger area S42 is located at the right rear of the two-wheeled vehicle C1. The right rear trigger area S42 is located to the right of the front rear trigger area S41 and the front ends of the right rear trigger area S42 and the front rear trigger area S41 are flush. The width of the right rear trigger area S42 is 3.6 meters, which is roughly the same as the width of the lane. The length of the right rear trigger area S42 is set between 30 and 40 meters, with the preferred length being 35 meters.

[0120] The left rear trigger area S43 is located at the left rear of the two-wheeled vehicle C1. The left rear trigger area S43 is located to the left of the front rear trigger area S41 and the front ends of the left rear trigger area S43 and the front rear trigger area S41 are flush. The width of the left rear trigger area S43 is 3.6 meters, which is roughly the same as the width of the lane. The length of the left rear trigger area S43 is set between 30 and 40 meters, with the preferred length being 35 meters.

[0121] The rear camera 214 can clearly capture a fan-shaped rear detection area S5, with a maximum distance of 30 meters and a horizontal detection angle of 120 degrees. Parts of the rear sides of the direct rear trigger area S41, right rear trigger area S42, and left rear trigger area S43 extend beyond the rear detection area S5. This allows the system to acquire video stream data from the corresponding areas of the blind spot detection function before a target vehicle enters the rear detection area S5, thus providing the driver with an early warning of blind spot conditions.

[0122] The rearmost trigger zone S41, the right rearmost trigger zone S42, and the left rearmost trigger zone S43 serve different functions. In addition to triggering and prompting image data, the rearmost trigger zone S41 can also be used to trigger prompts related to restricting emergency braking; the right rearmost trigger zone S42 can also be used to trigger prompts related to restricting right lane changes; and the left rearmost trigger zone S43 can also be used to trigger prompts related to restricting left lane changes.

[0123] like Figure 10 As shown, two-wheeled vehicle C1 is located in the middle lane, and two-wheeled vehicle C2 is behind C1, situated within the right rear trigger zone S42 and the rear detection area S5. In step S520, the rear radar module 213 acquires the position information of the rear target vehicle, two-wheeled vehicle C2, which is located in the right rear trigger zone S42. Therefore, in step S530, the rear camera module 214 acquires rear image data and segments it based on the image data of the right rear trigger zone S42 where the rear target vehicle, two-wheeled vehicle C2, is located, to form regional image data. Then, it outputs video stream data composed of the regional image data corresponding to the right rear trigger zone S42.

[0124] Specifically, in step S530, the image data is divided into two parts by the rear camera module 214: left image data and right image data. Figure 11 As shown, camera module 214 constructs a dividing line L1 in the middle of the left and right sides of the image data. The image to the left of dividing line L1 is the left image data, and the image to the right of dividing line L1 is the right image data. The segmented left and right image data are as follows: Figure 12 As shown.

[0125] In step S540, the driver assistance control device 23 receives video stream data output from the rear camera module 214, and combines it with the corresponding area image data and the position information of the target vehicle behind to generate prompt video data. For example... Figure 13 As shown, after combining the image data of the corresponding area with the position information of the target vehicle behind, the assisted driving control device 23 forms an alarm frame in the image data according to the mapping relationship between the position information and the image data of the corresponding area. The alarm frame frames the outline of the two-wheeled vehicle C2 behind, and the size of the alarm frame increases or decreases as the target approaches or moves away.

[0126] In step S550, the display body 241 is a split-screen display that is part of the dashboard assembly. The method of displaying the prompt video data on the display body 241 is preferably a pop-up display. While the target behind is within the prompt trigger area, the prompt video data will continue to be displayed in a pop-up window on the display body 241 until the target leaves the prompt trigger area.

[0127] Furthermore, in step S540, the position of the pop-up window displayed on the main body 241 corresponds to the position of the target vehicle behind it in the prompt trigger area.

[0128] like Figure 13As shown, when there is a target vehicle behind only in the trigger area directly behind, the output video stream data consists of complete rear image data. The pop-up window of the video stream data pops up from the middle of the display body 241 and remains in the middle of the display body 241.

[0129] like Figure 14 As shown, when there is only a target vehicle in the right rear trigger area, the output video stream data consists of the right-side image data; the video stream data pop-up window pops up from the right side of the display body 241 and remains on the right side of the display body 241.

[0130] like Figure 15 As shown, when there is a target vehicle in the rear only in the left rear trigger area, only video stream data composed of left image data is output; the pop-up window of the video stream data pops up from the left side of the display body 241 and remains on the left side of the display body 241.

[0131] like Figure 16 As shown, when there are target vehicles behind two or more trigger areas, a video stream consisting of complete rear image data is output. The pop-up window of the video stream data pops up from the middle of the display body 241 and remains in the middle of the display body 241.

[0132] In summary, this blind spot warning method provides comprehensive and intuitive blind spot warnings.

[0133] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1.A two-wheeled vehicle, comprising: a frame; a body cover at least partially covering the frame; a walking system at least partially disposed below the frame; a power system at least partially supported by the frame to drive the walking system; an electrical system at least for implementing a blind area detection function of the two-wheeled vehicle; characterized in that the electrical system comprises: an external environment detection device capable of at least acquiring image data of a rear of the two-wheeled vehicle, identifying position information of a rear target vehicle if the rear target vehicle exists in the rear of the two-wheeled vehicle, and outputting prompt information when the position information meets a preset prompt trigger area, the prompt information at least including the image data of the rear target vehicle; a human-machine interface device capable of at least responding to and displaying the prompt information; the external environment detection device comprises a rear camera module for acquiring the image data and at least a rear radar module for acquiring the position information; the detection area of the rear radar is divided into a plurality of prompt trigger areas, including a directly rear trigger area, a right rear trigger area and a left rear trigger area; the image data acquired by the rear camera module is divided into a plurality of area image data; when any rear target vehicle in the area image data is in a prompt trigger area, the human-machine interface device displays the area image data. 2.The two-wheeled vehicle of claim 1, characterized in that: a center line of the directly rear trigger area coincides with a longitudinal center axis of the frame; the right rear trigger area is located on the right side of the directly rear trigger area, and the right rear trigger area and the directly rear trigger area are flush at one end close to the two-wheeled vehicle; the left rear trigger area is located on the left side of the directly rear trigger area, and the left rear trigger area and the directly rear trigger area are flush at one end close to the two-wheeled vehicle. 3.The two-wheeled vehicle of claim 2, characterized in that: the length of the right rear trigger area and the length of the left rear trigger area are shorter than the length of the directly rear trigger area. 4.The two-wheeled vehicle of claim 1, characterized in that: the human-machine interface device comprises a display body, and the prompt information is displayed on the display body in the form of a pop-up window. 5.The two-wheeled vehicle of claim 4, characterized in that: the display body is used to display driving information of the two-wheeled vehicle, and when the display body needs to display the prompt information, the prompt information can partially cover the driving information. 6.The two-wheeled vehicle of claim 5, characterized in that: when the rear target vehicle is in a prompt trigger area, the prompt information remains displayed on the display body in the form of a pop-up window. 7.The two-wheeled vehicle of claim 6, characterized in that: when the rear target vehicle is in the directly rear trigger area, the prompt information is located in the middle of the display body; when the rear target vehicle is in the right rear trigger area, the prompt information is located in the right part of the display body. When the rear target vehicle is located in the left rear trigger area, the prompt information is located in the left part of the display body. 8.A blind area warning method of a two-wheeled vehicle, the two-wheeled vehicle comprising an electrical system capable of at least realizing a blind area warning function; the electrical system comprising an external environment detection device and a human-computer interface device; characterized in that The blind area warning method comprises: acquiring image data of a rear of the two-wheeled vehicle, and identifying position information of a rear target vehicle if the rear target vehicle exists in the rear of the two-wheeled vehicle; When the position information meets a preset prompt trigger area, the human-computer interface device displays prompt information, and the prompt information at least comprises image data of the rear target vehicle; The external environment detection device comprises a rear camera module for acquiring the image data and at least a rear radar module for acquiring the position information; The detection area of the rear radar is divided into a plurality of prompt trigger areas, and the prompt trigger areas comprise a directly rear trigger area, a right rear trigger area and a left rear trigger area; The image data acquired by the rear camera module is divided into a plurality of area image data; when any rear target vehicle in the area image data is in the prompt trigger area, the human-computer interface device displays the area image data.

Images