Two-wheeled vehicles and their blind spot warning methods

Abstract

This invention discloses a two-wheeled vehicle and its blind spot warning method, relating to the field of vehicle technology. The method includes: the two-wheeled vehicle identifying vehicle information of a target vehicle to its side and obtaining the lateral distance between the two-wheeled vehicle and the target vehicle; identifying a preset dangerous vehicle from the target vehicles based on the obtained vehicle information; outputting a warning command when the lateral distance between the preset dangerous vehicle and the two-wheeled vehicle is less than a preset lateral distance threshold; and a human-machine interface device responding to the warning command by outputting warning information to the user indicating that the two-wheeled vehicle is in the blind spot of the preset dangerous vehicle. When the lateral distance between the two-wheeled vehicle and the preset dangerous vehicle to its side is less than the preset lateral distance threshold, it is determined that the two-wheeled vehicle is in the blind spot of the preset dangerous vehicle, and a warning is given to the two-wheeled vehicle to avoid the two-wheeled vehicle being in the blind spot of the preset dangerous vehicle for an extended period, thereby reducing driving risks and improving safety.

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] Adaptive Cruise Control (ACC) and Blind Spot Detection (BSD) are widely used in various road vehicles as driver assistance functions, but they lack a feature to alert drivers when a vehicle is in the blind spot of a large vehicle.

[0003] Two-wheeled vehicles may be in the blind spots of other road users, especially large vehicles such as trucks, buses, and construction vehicles. When a two-wheeled vehicle is in the blind spot of a large vehicle, the driver inside the large vehicle cannot see the two-wheeled vehicle. If the large vehicle changes lanes to the side of the two-wheeled vehicle during this time, there is a risk of collision between the large vehicle and the two-wheeled vehicle. Therefore, identifying and avoiding the blind spots of large vehicles is an essential action to improve the safety of two-wheeled vehicle driving. Summary of the Invention

[0004] To address the aforementioned problems, this invention provides a two-wheeled vehicle with enhanced driving safety and a blind spot warning method thereof.

[0005] 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 control the power system; the electrical system includes an external environment detection device, a driver assistance control device, and a human-machine interface device; the external environment detection device is at least capable of identifying vehicle information of a target vehicle to the side of the two-wheeled vehicle and obtaining the lateral distance between the target vehicle and the two-wheeled vehicle; the driver assistance control device is configured to identify a preset dangerous vehicle from the target vehicle based on the vehicle information; when the lateral distance between the preset dangerous vehicle and the two-wheeled vehicle is less than a preset lateral distance threshold, a prompt command is output; the human-machine interface device is used to respond to the prompt command and output prompt information to the user indicating that the two-wheeled vehicle is in the blind spot of the preset dangerous vehicle.

[0006] Preferably, the external environment detection device includes a side camera module and a side radar module; the side camera module can acquire image data of the side of the two-wheeled vehicle, and the side radar module can acquire the lateral distance between the target vehicle and the two-wheeled vehicle; if the image data contains the target vehicle, the vehicle information of the target vehicle is identified based on the acquired image data.

[0007] Preferably, the vehicle information includes at least the vehicle type; if the vehicle type matches a preset large vehicle type, the target vehicle is identified as a preset dangerous vehicle.

[0008] Preferably, there are two side radar modules, which are respectively located on the left and right sides of the two-wheeled vehicle; there are also two side camera modules, which are respectively located on both sides of the two-wheeled vehicle.

[0009] Preferably, the side camera module is a fisheye camera, and the side radar module is an ultrasonic radar.

[0010] Preferably, the lateral distance is the shortest distance between the target vehicle and the two-wheeled vehicle.

[0011] Preferably, the lateral distance threshold includes a left lateral distance threshold and a right lateral distance threshold, wherein the left lateral distance threshold is greater than the right lateral distance threshold.

[0012] Preferably, the human-machine interface device includes a prompting body, which is a vibrating element, an indicator light, or an audible alarm.

[0013] Preferably, the warning entities are respectively located on the left and right sides of the two-wheeled vehicle; according to the position of the preset dangerous vehicle relative to the two-wheeled vehicle, the warning entity at the corresponding position responds to the warning instruction.

[0014] Secondly, this application also provides a blind spot warning method for a two-wheeled vehicle, the two-wheeled vehicle including a power system and an electrical system, the electrical system being at least capable of controlling the power system; the electrical system including an external environment detection device, an auxiliary driving control device, and a human-machine interface device; the blind spot warning method includes: the two-wheeled vehicle identifying vehicle information of a target vehicle to the side and obtaining the lateral distance between itself and the target vehicle; identifying a preset dangerous vehicle from the target vehicles based on the obtained vehicle information; when the lateral distance between the preset dangerous vehicle and the two-wheeled vehicle is less than a preset lateral distance threshold, outputting a warning command; the human-machine interface device responding to the warning command outputting warning information to the user indicating that the two-wheeled vehicle is in the blind spot of the preset dangerous vehicle.

[0015] This application describes a two-wheeled vehicle that identifies vehicle information of a target vehicle to the side and obtains the lateral distance between itself and the target vehicle. Based on the obtained vehicle information, it identifies a pre-set dangerous vehicle from among the target vehicles. When the lateral distance between the pre-set dangerous vehicle and the two-wheeled vehicle is less than a pre-set lateral distance threshold, it outputs a warning command. A human-machine interface device responds to the warning command and outputs a warning message to the user indicating that the two-wheeled vehicle is in the blind spot of the pre-set dangerous vehicle. When the lateral distance between the two-wheeled vehicle and the pre-set dangerous vehicle to the side is less than the pre-set lateral distance threshold, it is determined that the two-wheeled vehicle is in the blind spot of the pre-set dangerous vehicle, and a warning is given to the two-wheeled vehicle to avoid it being in the blind spot of the pre-set dangerous vehicle for an extended period, thereby reducing driving risks and improving safety. Attached Figure Description

[0016] 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.

[0017] Figure 1 This is a three-dimensional schematic diagram of a two-wheeled vehicle provided by the present invention.

[0018] Figure 2 A system block diagram of the driving assistance system provided by the present invention.

[0019] Figure 3 A schematic diagram of the detection range of the external environment detection device provided by the present invention.

[0020] Figure 4 A flowchart of the main target selection method provided by the present invention.

[0021] Figure 5 This is one of the application scenarios of the main target selection method provided by the present invention.

[0022] Figure 6 This is the second schematic diagram illustrating the application scenario of the main target selection method provided by the present invention.

[0023] Figure 7 This is a schematic diagram of the trigger area in the blind spot warning method provided by the present invention.

[0024] Figure 8 A schematic diagram illustrating the application scenario of the blind spot early warning method provided by this invention.

[0025] Figure 9 This is a schematic diagram of the image data acquired in the blind spot warning method provided by the present invention.

[0026] Figure 10This 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.

[0027] Figure 11 This is a schematic diagram illustrating the blind spot warning method provided by the present invention, in which the target display content exists only in the trigger area directly behind the main body.

[0028] Figure 12 This is a schematic diagram illustrating the blind spot warning method provided by the present invention, in which the target display content exists only in the right rear trigger area.

[0029] Figure 13 This is a schematic diagram illustrating the blind spot warning method provided by the present invention, in which the target display content exists only in the left rear trigger area.

[0030] Figure 14 This is a schematic diagram illustrating the content displayed on the target display body in the blind spot warning method provided by the present invention, where two or more trigger zones exist.

[0031] Figure 15 A flowchart of the blind spot early warning method provided by the present invention.

[0032] Figure 16 This is one of the application scenarios of the blind spot warning method provided by the present invention.

[0033] Figure 17 The second schematic diagram illustrates the application scenario of the blind spot warning method provided by this invention. Detailed Implementation

[0034] 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.

[0035] like Figure 1As 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.

[0036] 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.

[0037] 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 the following driving assistance functions: Adaptive Cruise Control (ACC), Blind Spot Detection (BSD), and Large Vehicle Blind Spot Warning.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] like Figure 2 As shown, the external environment detection device 21 includes at least one of a front radar module 211, a front camera module 212, a rear radar module 213, a rear camera module 214, a side radar module 215, and a side camera module 216.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] like Figure 2 As shown, 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.

[0046] 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.

[0047] During the driving of the two-wheeled vehicle 100, it can select a suitable target vehicle as the primary target vehicle from multiple target vehicles. By using the distance information and acceleration difference with the primary target vehicle, it controls the acceleration value of the two-wheeled vehicle 100 to maintain a set following distance. Simultaneously, the ACC torque request also requires torque arbitration at the drive control device 25. In the ACC following mode of the two-wheeled vehicle 100, the driver can also control the speed of the two-wheeled vehicle 100 to adapt to various scenarios.

[0048] 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.

[0049] When the distance between the two-wheeled vehicle 100 and the target vehicle is greater than the preset following distance, the driver assistance control device 23 will calculate the following acceleration based on the relative speed between the two-wheeled vehicle 100 and the target vehicle, and gradually decrease the distance between the two-wheeled vehicle and the target vehicle. When the distance between the two-wheeled vehicle 100 and the target vehicle is less than the preset following distance, the driver assistance control device 23 will calculate the following acceleration based on the relative speed between the two-wheeled vehicle 100 and the target vehicle, and gradually increase the distance between the two-wheeled vehicle 100 and the target vehicle.

[0050] After obtaining the following acceleration value of the vehicle, the driver assistance control device 23 calculates the ACC torque and outputs the ACC torque request to the drive control device 25.

[0051] The drive control unit 25 arbitrates the torque requests from the driver assistance control unit 23, the accelerator lever, and the ABS output of the two-wheeled vehicle. The torque arbitration strategy prioritizes safe driving, followed by non-misoperational manual driving, and then automatic driving.

[0052] 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.

[0053] 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.

[0054] 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 4 As shown, this application discloses a method for selecting a vehicle owner target, including:

[0055] Step S210: Identify the target vehicle in the front detection area.

[0056] Step S220: Select the target vehicle in front in the same lane as the target candidate vehicle.

[0057] Step S230: Determine whether there is only one target vehicle to be selected.

[0058] 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.

[0059] Step S231: Select the target vehicle as the primary target vehicle.

[0060] 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.

[0061] Step S240: Determine whether there is a target vehicle whose acceleration difference is lower than a preset acceleration difference threshold.

[0062] 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.

[0063] Step S241: Select a target vehicle with an acceleration difference lower than the preset threshold from multiple target vehicles.

[0064] Step S242: Select the target vehicle with the smallest acceleration difference from multiple target vehicles.

[0065] Step S250: Determine whether there is only one target vehicle to be selected.

[0066] 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.

[0067] Step S251: Select the target vehicle as the primary target vehicle.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] Reference Figure 5 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.

[0080] Reference Figure 6Two-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.

[0081] 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 .

[0082] Continue to refer to Figure 6 After 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] Reference Figure 6 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.

[0089] 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.

[0090] 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.

[0091] 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 image data behind the two-wheeled vehicle 100, and when the target vehicle enters the prompt trigger area, it acquires video stream data composed of the image data of the corresponding 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.

[0092] The trigger area is obtained by dividing the detection area of ​​the rear radar module 213; for example... Figure 7 As shown, the trigger areas include the rear trigger area S41, the right rear trigger area S42, and the left rear trigger area S43.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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.

[0097] 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.

[0098] like Figure 8 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.

[0099] Specifically, the image data is divided into two parts by the rear camera module 214: left and right image data. Figure 9 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 10 As shown.

[0100] The driver assistance control device 23 receives video stream data output from the rear camera module 214, and generates alert video data by combining the corresponding area image data and the position information of the target vehicle behind. After combining the image data of the corresponding area and the position information of the target vehicle behind, the driver assistance 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 outlines the two-wheeled vehicle C2 behind, and the size of the alarm frame increases or decreases as the target approaches or moves away.

[0101] The main display unit 241 is a split-screen display that is part of the dashboard assembly. The method of displaying prompt video data on the main display unit 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 main display unit 241 until the target leaves the prompt trigger area.

[0102] Furthermore, the position of the pop-up window displayed on the main display body 241 corresponds to the position of the target vehicle behind it within the prompt trigger area.

[0103] like Figure 11 As 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.

[0104] like Figure 12 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.

[0105] like Figure 13 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.

[0106] like Figure 14 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.

[0107] In summary, this blind spot early warning method has the effect of providing comprehensive and intuitive blind spot early warning.

[0108] During driving, two-wheeled vehicles may fall into the blind spot of larger vehicles. When a two-wheeled vehicle is in a large vehicle's blind spot, the driver inside the large vehicle cannot see the two-wheeled vehicle. If the large vehicle changes lanes to the side of the two-wheeled vehicle during this time, there is a risk of collision between the large vehicle and the two-wheeled vehicle. Therefore, when a two-wheeled vehicle is in the blind spot of a large vehicle, it is at risk of safety. Identifying and avoiding the blind spot of large vehicles is an essential action to improve safety when driving two-wheeled vehicles.

[0109] like Figure 15 As shown, this application also discloses a blind spot early warning method, including:

[0110] Step S610: Identify target vehicles on both sides based on the acquired side image data.

[0111] Step S620: The target vehicle identified as a preset dangerous vehicle is designated as the monitoring target vehicle.

[0112] Step S630: Obtain the lateral distance between the target vehicle and the two-wheeled vehicle.

[0113] Step S640: Determine whether the lateral distance between the monitored target vehicle and the two-wheeled vehicle is less than the preset lateral distance threshold.

[0114] If the judgment result is yes, then proceed to step S650; if the judgment result is no, then return to proceed to step S610.

[0115] Step S650: Output a prompt message.

[0116] Side radar modules 215 and rear camera modules 216 are mounted on both sides of the two-wheeled vehicle 100. The rear camera module 216 acquires information about target vehicles on both sides, and the side radar module 215 measures the lateral distance between the target vehicles and the vehicle itself. The driver assistance control device 23 identifies target vehicles on both sides as preset dangerous vehicles and uses them as monitoring target vehicles. When the lateral distance between the monitored target vehicles and the vehicle is less than a preset lateral distance threshold, it outputs a prompt command to the human-machine interface device 24. The human-machine interface device 24 includes a prompting body 242, which receives the prompt command and outputs prompt information.

[0117] Two side radar modules 215 are provided, one on each side of the two-wheeled vehicle 100. Specifically, the side radar modules 215 can be installed on either side of the fuel tank or on either side of the rear cargo box of the two-wheeled vehicle 100. The installation height of the side radar modules 215 must be at least 50cm above the horizontal plane and should be positioned away from the driver's legs. The side radar modules 215 use ultrasonic radar. They measure the distance to objects on the side by emitting ultrasonic waves and receiving their reflected signals. When the distance between the target object and the vehicle is lower than a preset safety threshold, the radar system will trigger an alarm signal.

[0118] Two side camera modules 216 are provided, one on the left and one on the right side of the two-wheeled vehicle 100. Specifically, the side camera modules 216 can be installed on both sides of the fuel tank of the two-wheeled vehicle 100. The installation height of the side camera modules 216 must be at least 50cm above the horizontal plane and must avoid the driver's legs. The side radar module 216 uses a fisheye camera, which has an ultra-wide field of view of over 180°, enabling it to acquire omnidirectional side image data of both sides of the two-wheeled vehicle 100. Simultaneously, the fisheye camera can perform image processing and recognition algorithms on the side image data it captures to output the type of target object.

[0119] See Figure 3The detection area of ​​the side radar module 215 is a roughly rectangular area S6; the shooting range of the side camera module 216 is a fan-shaped area S7. Specifically, the detection distance of the side radar module 215's detection area S6 is between 4.5 meters and 5 meters, the horizontal detection field of view is between 100 degrees and 120 degrees, and the detection width is between 3 and 4 meters. The clear viewing distance of the shooting range of the side camera module 216 is between 8 meters and 12 meters, and the horizontal field of view of the shooting range is usually 180 degrees. Since the large vehicle warning function needs to identify large vehicles as early as possible, area S7 is designated as the main side detection area covered by the large vehicle warning function. Therefore, in one embodiment, the maximum detection distance of the side detection area S7 of the large vehicle warning function is 9 meters, the detection area covers a horizontal angle of 180 degrees, and is located on both sides of the two-wheeled vehicle 100.

[0120] Reference Figure 16 The side camera module 216 uses a fisheye camera, which can acquire side image data of the fan-shaped area S7 on both sides of the two-wheeled vehicle C1. In one embodiment, the radius of the fan-shaped area S7 is 9 meters and the horizontal field of view is 180 degrees.

[0121] In step S610, the side camera module 216 identifies target vehicles on both sides based on the acquired side image data. The side radar module 215 uses ultrasonic radar, which measures the distance information of the target object on the side by emitting ultrasonic waves and receiving their reflected signals. In step S630, the side radar module 215 acquires the position information of the target vehicle in a roughly rectangular area S6 on both sides of the two-wheeled vehicle C1. In one embodiment, the lateral detection distance of the roughly rectangular area S6 is 5 meters, and the longitudinal detection width is 3 meters.

[0122] like Figure 16 As shown, a two-wheeled vehicle C1 is traveling in the middle lane. The detection area S6 of the side radar module 215 and the recognition area S7 of the side camera module 216 are located on the left and right sides of vehicle C1, respectively. A target vehicle A1 is traveling to the left rear of vehicle C1. Since the recognition area S7 of the side camera module 216 is larger than the detection area S6 of the side radar module 215, the side camera modules 216 will acquire lateral image information containing the target vehicle A1 before the side radar module 215 acquires the vehicle's position information. The side cameras then perform image processing and recognition algorithms on the side image data they capture.

[0123] like Figure 16As shown, in step S610, the side camera module 216 identifies the target vehicle A1 in the left lane as a large truck and sends the identified vehicle information to the driver assistance control device 23. In step S620, the driver assistance control device 23 determines that the target vehicle A1 is a dangerous vehicle based on the identified vehicle information. The target vehicle A1 identified as a preset dangerous vehicle is then designated as a monitoring target vehicle. The preset dangerous vehicles include at least large trucks, buses, and construction vehicles.

[0124] like Figure 17 As shown, the target vehicle enters the detection area S6 of the side radar module 215; in step S630, the side radar module 215 acquires the lateral distance between the target vehicle A1 and the two-wheeled vehicle C1. Specifically, the lateral distance acquired by the side radar is the lateral distance between the closest point of the target vehicle A1 and the two-wheeled vehicle C1.

[0125] In step S640, the driver assistance control device 23 compares the lateral distance between the monitored target vehicle A1 and the vehicle's two-wheeled vehicle C1 with a preset lateral distance threshold. If the lateral distance between the monitored target vehicle A1 and the vehicle's two-wheeled vehicle C1 is less than the preset lateral distance threshold, it indicates that the vehicle is in the blind spot of the target vehicle, and step S650 needs to be executed; otherwise, it returns to step 610, allowing the side radar module 215 and the side camera module 216 to continue detection.

[0126] Furthermore, in step S650, the driver assistance control device 23 controls the prompting body 242 to issue a vehicle warning message. The prompting body 242 may be a vibrating element arranged under the seat, an indicator light set on the instrument panel, or an audible alarm mounted on the frame.

[0127] Furthermore, the large vehicle alert information includes left-side large vehicle alert information and right-side large vehicle alert information. The left-side large vehicle alert information is triggered by the monitored target vehicle on the left side of the vehicle, and the right-side large vehicle alert information is triggered by the monitored target vehicle on the right side of the vehicle.

[0128] The prompting units 242 are respectively installed on the left and right sides of the two-wheeled vehicle 100. Based on the prompting information from the left and right sides of the vehicle, the prompting units 242 output corresponding prompting information for the same side. The prompting units 242 can be vibrating components symmetrically arranged on the left and right sides under the seat, vehicle indicator lights symmetrically arranged on the left and right sides of the instrument panel, or audible alarms symmetrically arranged on both sides of the frame.

[0129] Furthermore, since the driver's cab of a large truck is located on the left, the driver can see the road conditions on the left through the window. Therefore, the blind spots on the left and right sides of the large truck are not the same, with the right blind spot being more dangerous than the left blind spot. The preset lateral distance thresholds include left and right lateral distance thresholds. Because the right blind spot of a large truck is larger than the left blind spot, in some embodiments, the left lateral distance threshold is greater than the right lateral distance threshold when setting the preset lateral distance thresholds. Specifically, the left lateral distance threshold must be greater than or equal to 1.2 meters, and the right lateral distance threshold must be greater than or equal to 1 meter to ensure overall safety. In one embodiment, the left lateral distance threshold is set to 1.8 meters, and the right lateral distance threshold is set to 1.5 meters.

[0130] In summary, the above-mentioned large vehicle warning method can provide a warning to two-wheeled vehicles when they approach a large vehicle laterally, thus preventing the two-wheeled vehicles from being in the large vehicle's blind spot for an extended period of time and reducing driving risks.

[0131] 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: Frame; A body panel that at least partially covers the vehicle frame; A walking system, at least partially disposed under the vehicle frame; A power system, at least partially supported by the vehicle frame, to drive the running gear system; An electrical system, which is at least used to control the power system; The electrical system is characterized by comprising: An external environment detection device, which is at least able to identify the vehicle information of a target vehicle to the side of the two-wheeled vehicle and obtain the lateral distance between the target vehicle and the two-wheeled vehicle; The driver assistance control device is capable of identifying a preset dangerous vehicle from the target vehicle based on the vehicle information; when the lateral distance between the preset dangerous vehicle and the two-wheeled vehicle is less than a preset lateral distance threshold, it outputs a prompt command. A human-machine interface device is used to respond to the prompting command and output prompting information to the user indicating that the two-wheeled vehicle is in the preset blind spot of dangerous vehicles; The driver assistance control device is configured to select the primary target vehicle from multiple forward target vehicles based on a preset selection rule for the primary target vehicle, which is based on lane information, acceleration difference, and lateral distance information. The priority of lane information, acceleration difference, and lateral distance information in the preset selection rule decreases sequentially. 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. 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 the lane with an acceleration difference value lower than the preset acceleration difference threshold, the target vehicle with the smallest acceleration difference value is selected as the main target vehicle. When there are multiple front target vehicles whose acceleration difference is lower than the preset acceleration difference threshold, the front target vehicle with the smallest lateral distance information is selected as the main target vehicle.

2. The two-wheeled vehicle according to claim 1, characterized in that, The external environment detection device includes a side camera module and a side radar module; the side camera module can acquire image data of the side of the two-wheeled vehicle, and the side radar module can acquire the lateral distance between the target vehicle and the two-wheeled vehicle. If the image data contains the target vehicle, then the vehicle information of the target vehicle is identified based on the acquired image data.

3. The two-wheeled vehicle according to claim 2, characterized in that, The vehicle information includes at least the vehicle type; if the vehicle type matches a preset large vehicle type, the target vehicle is identified as a preset dangerous vehicle.

4. The two-wheeled vehicle according to claim 3, characterized in that, Two side radar modules are provided, one on the left and one on the right side of the two-wheeled vehicle; two side camera modules are provided, one on each side of the two-wheeled vehicle.

5. The two-wheeled vehicle according to claim 4, characterized in that, The side camera module is a fisheye camera, and the side radar module is an ultrasonic radar.

6. The two-wheeled vehicle according to claim 2, characterized in that, The lateral distance is the shortest distance between the target vehicle and the two-wheeled vehicle.

7. The two-wheeled vehicle according to claim 6, characterized in that, The lateral distance threshold includes a left lateral distance threshold and a right lateral distance threshold, wherein the left lateral distance threshold is greater than the right lateral distance threshold.

8. The two-wheeled vehicle according to claim 1, characterized in that, The human-machine interface device includes a prompting body, which may be a vibrating element, an indicator light, or an audible alarm.

9. The two-wheeled vehicle according to claim 8, characterized in that, The warning entities are respectively located on the left and right sides of the two-wheeled vehicle; according to the position of the preset dangerous vehicle relative to the two-wheeled vehicle, the warning entity at the corresponding position responds to the warning instruction.

10. A blind spot warning method for a two-wheeled vehicle, the two-wheeled vehicle comprising a power system and an electrical system, the electrical system being at least capable of controlling the power system; the electrical system comprising an external environment detection device, an auxiliary driving control device, and a human-machine interface device; Its features are, The blind spot early warning method includes: The two-wheeled vehicle identifies the vehicle information of the target vehicle on the side and obtains the lateral distance between itself and the target vehicle; Based on the acquired vehicle information, a preset dangerous vehicle is identified from the target vehicles; when the lateral distance between the preset dangerous vehicle and the two-wheeled vehicle is less than a preset lateral distance threshold, a prompt instruction is output; The human-machine interface device responds to the prompting command and outputs a prompting message to the user indicating that the two-wheeled vehicle is in the preset blind spot of dangerous vehicles; The driver assistance control device is configured to select the primary target vehicle from multiple forward target vehicles based on a preset selection rule for the primary target vehicle, which is based on lane information, acceleration difference, and lateral distance information. The priority of lane information, acceleration difference, and lateral distance information in the preset selection rule decreases sequentially. 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. 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 the lane with an acceleration difference value lower than the preset acceleration difference threshold, the target vehicle with the smallest acceleration difference value is selected as the main target vehicle. When there are multiple front target vehicles whose acceleration difference is lower than the preset acceleration difference threshold, the front target vehicle with the smallest lateral distance information is selected as the main target vehicle.

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