Blind area intrusion event preprocessing method, device and system and medium

Abstract

The invention relates to the technical field of vehicles, in particular to a blind area intrusion event preprocessing method, device and system and a medium. The method comprises the steps that the speed of a lateral vehicle, the speed of a vulnerable traffic participant, the transverse distance of the lateral traffic participant, the longitudinal distance of the lateral traffic participant, the transverse offset of the vulnerable traffic participant and the braking acceleration of the lateral vehicle are acquired; determining comprehensive collision time according to the speed of the lateral vehicle, the speed of the vulnerable traffic participant and the transverse offset of the vulnerable traffic participant; whether a collision risk exists or not is determined according to the braking acceleration of the side vehicle, the system fusion delay time, the safety time threshold value and the comprehensive collision time, and early warning is carried out under the condition that the collision risk exists; the accident rate can be effectively reduced.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and specifically to a method, apparatus, system, and medium for preprocessing blind spot intrusion events. Background Technology

[0002] Blind spot intrusion incidents refer to situations where a vehicle or obstacle obstructs the driver's view, creating a blind spot, and a non-motorized vehicle or pedestrian suddenly darts out from the roadside. If the driver fails to react in time, it often results in tragic accidents with injuries or fatalities. In urban road conditions, these incidents typically occur when a slowing or stopped vehicle obstructs the view, or when a pedestrian or non-motorized vehicle runs a red light or takes a shortcut without slowing down and observing the surroundings. While the obstructing vehicle (hereinafter referred to as "the vehicle") can detect the accident and the victim, and can even predict the accident to some extent, current technology limits its ability to inform both parties. This inability to promptly inform both parties often leads to missed opportunities to prevent accidents when faced with blind spot intrusion incidents. Summary of the Invention

[0003] In view of this, the purpose of this invention is to provide a method, device, system and medium for preprocessing blind spot intrusion events, which identifies potentially dangerous vehicles, pedestrians and non-motorized vehicles by fusing assisted driving radar and cameras, and relies on the vehicle's existing front and rear digital display lights to provide immediate external warnings of dangerous information, thereby reducing the accident rate.

[0004] The aim is to eliminate the information gap between the accident vehicle and the victim, and to prevent similar accidents from happening as much as possible.

[0005] On one hand, embodiments of the present invention provide a method for preprocessing blind zone intrusion events, the method comprising the following steps: Acquire the speed of lateral vehicles, the speed of vulnerable road users, the lateral distance of lateral road users, the longitudinal distance of lateral road users, the lateral offset of vulnerable road users, and the braking acceleration of lateral vehicles. The combined collision time is determined based on the speed of the lateral vehicle, the speed of the vulnerable road user, and the lateral offset of the vulnerable road user. The system determines whether there is a collision risk based on the braking acceleration of the vehicle on the side, the system fusion delay time, the safety time threshold, and the overall collision time, and issues a warning if a collision risk is determined to exist.

[0006] Optionally, the method further includes: The vehicle's speed is obtained, and after determining that the vehicle's speed is greater than a preset speed threshold, the speed of the side vehicle, the speed of the vulnerable road user, the lateral distance of the side road user, the longitudinal distance of the side road user, the lateral offset of the vulnerable road user, and the braking acceleration of the side vehicle are obtained.

[0007] Optionally, determining the combined collision time based on the speed of the lateral vehicle, the speed of the vulnerable road user, and the lateral offset of the vulnerable road user includes: The lateral relative speed and longitudinal relative speed of the lateral traffic participants are determined based on the speed of the vehicles on the side and the speed of the vulnerable traffic participants. The lateral collision time is determined based on the lateral distance of the lateral traffic participants, the lateral offset of the vulnerable traffic participants, and the lateral relative velocity of the lateral traffic participants; the longitudinal collision time is determined based on the longitudinal distance of the lateral traffic participants and the longitudinal relative velocity of the lateral traffic participants. The smaller of the lateral collision time and the longitudinal collision time is taken as the composite collision time.

[0008] Optionally, the speed of the lateral vehicle includes the lateral speed and the longitudinal speed of the lateral vehicle; the speed of the vulnerable traffic participant includes the lateral speed and the longitudinal speed of the vulnerable traffic participant. The determination of the lateral relative speed and longitudinal relative speed of the lateral traffic participants based on the speed of the vehicles on the side and the speed of the vulnerable traffic participants includes: Obtain the lateral velocity of the vulnerable road user and the lateral velocity of the vehicle to the side, and calculate the difference between the lateral velocity of the vulnerable road user and the lateral velocity of the vehicle to the side to obtain the lateral relative velocity of the road user. Obtain the longitudinal velocity of the vulnerable road user and the longitudinal velocity of the vehicle to the side, and then calculate the difference between the longitudinal velocities of the vulnerable road user and the vehicle to the side to obtain the longitudinal relative velocity of the vehicle to the side.

[0009] Optionally, determining whether a collision risk exists based on the braking acceleration of the lateral vehicle, the system fusion delay time, the safety time threshold, and the overall collision time includes: Obtain the system fusion latency and security time threshold; The system fusion delay distance is determined based on the system fusion delay time and the speed of the lateral vehicle, and the sum of the system fusion delay distance and the braking safety distance is taken as the braking distance; Determine the relative distances of lateral traffic participants. If the relative distances of lateral traffic participants do not exceed the braking distance and the total collision time does not exceed the safe time threshold, then a collision risk is determined.

[0010] Optionally, determining the relative distance to lateral traffic participants includes: The braking time required is determined based on the braking acceleration and speed of the vehicle on the side. The safe braking distance is determined based on the braking acceleration of the vehicle on the side, the speed of the vehicle on the side, and the time required for braking. The relative distances of lateral traffic participants are determined based on their lateral and longitudinal distances.

[0011] Optionally, the method further includes: Once the collision risk is determined to be eliminated, the warning will be discontinued.

[0012] On the other hand, embodiments of the present invention provide a blind zone intrusion event preprocessing device, comprising: The first module is used to obtain the speed of the lateral vehicle, the speed of the vulnerable road user, the lateral distance of the lateral road user, the longitudinal distance of the lateral road user, the lateral offset of the vulnerable road user, and the braking acceleration of the lateral vehicle. The second module is used to determine the overall collision time based on the speed of the lateral vehicle, the speed of the vulnerable road user, and the lateral offset of the vulnerable road user. The third module is used to determine whether there is a collision risk based on the braking acceleration of the vehicle on the side, the system fusion delay time, the safety time threshold, and the comprehensive collision time, and to issue a warning if a collision risk is determined to exist.

[0013] On the other hand, embodiments of the present invention provide a blind zone intrusion event preprocessing system, comprising: At least one processor; At least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor performs the method described above.

[0014] On the other hand, embodiments of the present invention provide a computer-readable storage medium storing a processor-executable program, which, when executed by a processor, is used to perform the above-described method.

[0015] The embodiments of this invention offer the following beneficial effects: This invention provides a method, apparatus, system, and medium for preprocessing blind spot intrusion events. By collecting dynamic parameters of lateral traffic participants from multiple dimensions, a comprehensive collision time is constructed. Combined with braking performance and system response delay, a risk assessment is performed, forming a complete processing logic from information acquisition and risk determination to early warning execution. By introducing lateral offset parameters, the movement trajectory characteristics of vulnerable traffic participants can be more accurately reflected, improving the accuracy of collision time calculation. Simultaneously, incorporating system fusion delay distance into braking distance considerations compensates for the neglect of system response lag in traditional early warning mechanisms, making risk determination more aligned with actual road scenarios. This method is compatible with existing vehicle perception hardware and display systems, requiring no additional significant hardware costs, facilitating widespread application across various vehicle types. It provides a practical technical solution to address the traffic problem of blind spot intrusion events, effectively reducing the accident rate. Attached Figure Description

[0016] Figure 1 This is a flowchart illustrating the steps of a blind zone intrusion event preprocessing method provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of a blind zone intrusion event provided by an embodiment of the present invention; Figure 3 This is a schematic diagram of another blind zone intrusion event provided by an embodiment of the present invention; Figure 4 This is a schematic diagram of another blind zone intrusion event provided by an embodiment of the present invention; Figure 5 This is a schematic diagram of another blind zone intrusion event provided by an embodiment of the present invention; Figure 6 This is a structural block diagram of a blind zone intrusion event preprocessing device provided in an embodiment of the present invention. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0018] It should be noted that although the device diagram shows a modular division and the flowchart illustrates a logical order, in some cases, the steps shown or described may be performed in a different order than the modular division in the device or the order shown in the flowchart. The terms "first," "second," etc., used in the specification, claims, and the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0020] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0021] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0022] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0023] like Figure 1 As shown, Figure 1 A method for preprocessing blind zone intrusion events provided by an embodiment of the present invention includes the following steps: S100, acquire the speed of the lateral vehicle, the speed of the vulnerable road user, the lateral distance of the lateral road user, the longitudinal distance of the lateral road user, the lateral offset of the vulnerable road user, and the braking acceleration of the lateral vehicle; the lateral road users include the vulnerable road user and the lateral vehicle. It should be noted that vulnerable road users (VRUs) include pedestrians and non-motorized vehicle riders, whose movements are sudden and unpredictable, making them the primary victims of blind spot intrusion incidents. In this step, the vehicle's speed is acquired in real time via the onboard CAN bus. The speed and braking acceleration of lateral vehicles are calculated using target tracking algorithms from millimeter-wave radar or lidar. Pedestrian / non-motorized vehicle speeds and lateral offsets are extracted by the forward-facing camera combined with a deep learning target detection model (such as YOLOv5). The lateral and longitudinal distances of lateral road users are calculated by fusing the coordinate information from radar and cameras. A Kalman filter algorithm is used to perform spatiotemporal registration of the multi-sensor data, and the error of the fused position information is controlled within ±0.5m. The system fusion delay time is measured by embedding a timestamp recording module in the ECU, including sensor data transmission delay, algorithm calculation delay, and actuator response delay. The safe time threshold is dynamically adjusted according to the road type (urban road, rural road, highway auxiliary road). The default threshold is set to 1.5s for urban roads and 2.0s for rural roads. This threshold can be remotely updated via OTA upgrades.

[0024] S200 determines the combined collision time based on the speed of the lateral vehicle, the speed of the vulnerable road user, and the lateral offset of the vulnerable road user. In this step, the composite collision time is established based on the relative motion relationship between the side vehicle and the vulnerable road user. The composite collision time can more accurately quantify the urgency of the risk of a collision between the two.

[0025] S300 determines whether there is a collision risk based on the braking acceleration of the vehicle on the side, the system fusion delay time, the safety time threshold, and the comprehensive collision time, and issues a warning if a collision risk is determined to exist.

[0026] In this step, the braking acceleration of the vehicle to the side is combined with the system fusion delay time to calculate the distance it may decelerate within the delay time. This distance is then compared with the remaining safe distance corresponding to the comprehensive collision time. If the former is less than the latter, a potential collision risk is identified. The warning module then activates, issuing an audible and visual warning through the HMI interface and providing the driver with corresponding evasive advice. Simultaneously, the warning information is uploaded to the cloud server for recording and analysis to optimize the warning strategy later. After determining that a collision risk exists, an audible warning is issued, using a beeping alarm or a pre-set voice such as "Please be aware of the vehicle to the side." Warnings are also issued through the digital headlights and taillights, which flash or display pre-set text / animation "Please be aware of the collision risk."

[0027] Steps S100 to S300 as shown in the embodiments of this application capture the dynamic parameters of lateral traffic participants in real time through multi-sensor fusion technology, and construct a complete link from risk perception to multimodal early warning by combining a comprehensive collision time model and a dynamic safety threshold.

[0028] In some embodiments, the method further includes: The vehicle's speed is obtained, and after determining that the vehicle's speed is greater than a preset speed threshold, the speed of the side vehicle, the speed of the vulnerable road user, the lateral distance of the side road user, the longitudinal distance of the side road user, the lateral offset of the vulnerable road user, and the braking acceleration of the side vehicle are obtained.

[0029] Specifically, the system acquires the vehicle's speed. If the speed exceeds a preset speed threshold, it activates a multi-sensor data acquisition mode. The millimeter-wave radar switches to high-frequency scanning (scanning frequency increased to 10Hz), and the forward-facing camera uses wide dynamic range (WDR) to adapt to complex lighting conditions such as backlighting or tunnel entrances / exits. The speed threshold is dynamically adjusted based on road speed limits. For example, on urban main roads with a speed limit of 60km / h, the preset threshold is set to 30km / h; on residential roads with a speed limit of 40km / h, the threshold is set to 20km / h. When the vehicle's speed falls below the threshold, the system enters a low-power monitoring mode, reducing sensor sampling frequency by 50% to minimize energy consumption, retaining only basic target detection functions. When the speed rises above the threshold, the system resumes full-power operation within 0.3 seconds to ensure real-time and accurate data acquisition.

[0030] like Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, in some embodiments, determining the combined collision time based on the speed of the lateral vehicle, the speed of the vulnerable road user, and the lateral offset of the vulnerable road user includes: S210, determine the lateral relative speed and longitudinal relative speed of the side traffic participants based on the speed of the side vehicles and the speed of the vulnerable traffic participants; S220, determine the lateral collision time based on the lateral distance of the lateral traffic participants, the lateral offset of the vulnerable traffic participants, and the lateral relative velocity of the lateral traffic participants; determine the longitudinal collision time based on the longitudinal distance of the lateral traffic participants and the longitudinal relative velocity of the lateral traffic participants. S230 uses the smaller of the lateral collision time and the longitudinal collision time as the composite collision time.

[0031] Specifically, the calculation process for the overall collision time is as follows: The formula for lateral collision time is: ;in, , For lateral collision time, The lateral distance of side traffic participants. For the lateral offset of vulnerable road users; if ,but This indicates that there is no risk of lateral collision. The formula for longitudinal collision time is: ;in, , For longitudinal collision time, The longitudinal distance of lateral traffic participants; if ,but This indicates that there is no risk of longitudinal collision. Total collision time: .

[0032] This embodiment, by independently modeling lateral and longitudinal collision times and then taking the minimum value as the comprehensive collision time, can more accurately capture the dynamic conflict risks of traffic participants in a two-dimensional plane during blind spot intrusion events. For example, when the longitudinal relative speed of a side vehicle is relatively small but the lateral relative speed is large, the lateral collision risk becomes the dominant factor, and the lateral collision time... It will be significantly shorter than the longitudinal collision time. Early warnings can be triggered primarily based on horizontal conflict trends. Furthermore, for... or In special circumstances, it can be determined that there is no risk of collision, effectively avoiding misjudging the overall risk due to the lack of relative motion in a single direction.

[0033] In some embodiments, the speed of the lateral vehicle includes the lateral speed and the longitudinal speed of the lateral vehicle; the speed of the vulnerable traffic participant includes the lateral speed and the longitudinal speed of the vulnerable traffic participant. The determination of the lateral relative speed and longitudinal relative speed of the lateral traffic participants based on the speed of the vehicles on the side and the speed of the vulnerable traffic participants includes: Obtain the lateral velocity of the vulnerable road user and the lateral velocity of the vehicle to the side, and calculate the difference between the lateral velocity of the vulnerable road user and the lateral velocity of the vehicle to the side to obtain the lateral relative velocity of the road user. Obtain the longitudinal velocity of the vulnerable road user and the longitudinal velocity of the vehicle to the side, and then calculate the difference between the longitudinal velocities of the vulnerable road user and the vehicle to the side to obtain the longitudinal relative velocity of the vehicle to the side.

[0034] Specifically, the formulas for the relative motion parameters of lateral traffic participants are as follows; The formula for lateral relative velocity is: ;in, Lateral speed for vulnerable road users The lateral speed of the vehicle on the side; The lateral relative velocity of traffic participants on the side; The formula for longitudinal relative velocity is: ;in, For the longitudinal speed of vulnerable road users, The longitudinal speed of the vehicle on the side; The longitudinal relative speed of lateral traffic participants.

[0035] This embodiment constructs a dynamic risk assessment model in a relative motion coordinate system by performing vector decomposition and difference calculation of the velocities of vulnerable road users and vehicles on the side in the lateral and longitudinal directions. Lateral relative velocity directly reflects the tendency of the two vehicles to approach each other in the road width direction, while longitudinal relative velocity reflects the positional change relationship along the road's extension direction. This multi-dimensional relative velocity calculation method lays the physical foundation for the accurate calculation of subsequent collision time. For example, when the vehicle on the side is stationary (… =0, =0) while pedestrians quickly cross the lateral ( >0, When =0), the lateral relative velocity longitudinal relative velocity At this point, lateral collision risk can be quickly identified as the primary threat, avoiding the neglect of sudden lateral dangers due to the lack of relative longitudinal motion. By simplifying complex two-dimensional motion into two independent components, lateral and longitudinal, the computational complexity of the algorithm is reduced, and the targeting and real-time performance of risk identification are improved, ensuring rapid response in highly dynamic scenarios such as blind-spot intrusion events.

[0036] In some embodiments, determining whether a collision risk exists based on the braking acceleration of the lateral vehicle, the system fusion delay time, the safety time threshold, and the combined collision time includes: Obtain the system fusion latency and security time threshold; The system fusion delay distance is determined based on the system fusion delay time and the speed of the lateral vehicle, and the sum of the system fusion delay distance and the braking safety distance is taken as the braking distance; Determine the relative distances of lateral traffic participants. If the relative distances of lateral traffic participants do not exceed the braking distance and the total collision time does not exceed the safe time threshold, then a collision risk is determined.

[0037] The process for verifying the safe braking distance of vehicles traveling in the side is as follows: Braking time required: ;in, For the braking acceleration of vehicles on the side, For the speed of vehicles on the side, The time required for braking; Braking safety distance: ;in, For the braking acceleration of vehicles on the side, For the speed of vehicles on the side, The time required for braking; Dynamic collision risk assessment: If and If so, it is determined that there is a risk of collision.

[0038] This embodiment constructs a dynamic collision risk assessment model that considers sensor data transmission, algorithm computation, and actuator response delay by superimposing the braking safety distance and the system fusion delay distance. The system fusion delay distance is calculated by multiplying the speed of the lateral vehicle by the system fusion delay time. This parameter quantifies the vehicle's travel distance from when a traffic participant enters the sensing range to when the system initiates a warning, effectively compensating for the deficiency of traditional static threshold determination in ignoring system response lag. The relative distance to lateral traffic participants is calculated by taking the square root of the sum of the squares of the lateral and longitudinal distances, i.e. This achieves precise representation of absolute distance in a two-dimensional plane. A collision risk warning is triggered only when the relative distance is simultaneously less than or equal to the braking distance (the sum of the safe braking distance and the delay distance) and the overall collision time is less than or equal to a safe time threshold. This dual-dimensional "distance-time" judgment mechanism avoids misjudgment due to a single distance threshold (such as in long-distance but high-speed scenarios) and excludes non-dangerous situations involving short time but long distances, significantly improving the accuracy of risk identification. For example, in an urban road scenario, if a vehicle traveling on the side is at a speed of 36 km / h (10 m / s) and has a braking acceleration of 5 m / s², a collision risk warning can be triggered. 2 If the system fusion delay time is 0.3s and the safety time threshold is 1.5s, then the braking safety distance is... Delay distance The total braking distance is 13m. When the relative distance between the side traffic participants is 12m and the comprehensive collision time is 1.2s, since 12m≤13m and 1.2s≤1.5s, a collision risk is determined and a warning is immediately activated. However, if the relative distance is 14m (greater than 13m) or the comprehensive collision time is 1.6s (greater than 1.5s), the warning will not be triggered, thus ensuring the accuracy and effectiveness of the warning.

[0039] In some embodiments, determining the relative distance to lateral traffic participants includes: The braking time required is determined based on the braking acceleration and speed of the vehicle on the side. The safe braking distance is determined based on the braking acceleration of the vehicle on the side, the speed of the vehicle on the side, and the time required for braking. The relative distances of lateral traffic participants are determined based on their lateral and longitudinal distances.

[0040] This embodiment quantifies the absolute position of traffic participants in a two-dimensional plane by substituting the lateral and longitudinal distances of lateral traffic participants into the Euclidean distance formula. The lateral distance... and longitudinal distance By fusing coordinate information from radar and cameras, and after spatiotemporal registration using a Kalman filter algorithm, the positional information error is controlled within ±0.5m, ensuring the accuracy of relative distance calculation. For example, when the lateral distance to a traffic participant is 3m and the longitudinal distance is 4m, the relative distance... This provides accurate distance parameters for subsequent collision risk assessment. This calculation method comprehensively reflects the actual positional relationships of traffic participants within the road plane, avoiding potential misjudgments due to distance parameters in only one direction, and laying the foundation for a "distance-time" dual-dimensional assessment mechanism.

[0041] In some embodiments, the method further includes: Once the collision risk is determined to be eliminated, the warning will be discontinued.

[0042] Specifically, after the danger is identified as cleared, the audio warning and lights stop. This embodiment continuously monitors the combined collision time and relative distance parameters. When the combined collision time exceeds the safe time threshold and the relative distance is greater than the braking distance, the collision risk is determined to be cleared. For example, if the vehicle on the side has completed braking and decelerated, its relative speed drops to zero. At this time, both the lateral collision time and the longitudinal collision time tend to infinity, and the combined collision time increases synchronously to exceed the safe time threshold. Simultaneously, the relative distance of the side traffic participants stops decreasing due to the vehicle stopping and gradually exceeds the braking distance. The system then terminates the audio and visual warnings, the HMI interface returns to normal display, and the lights stop flashing, ensuring that the driver is not disturbed by continuous warnings, improving the driving experience while ensuring the closed-loop control of the warning mechanism. In addition, a 0.5-second anti-shake delay is introduced into the risk clearance determination logic to avoid frequent switching of the warning state due to sensor data fluctuations, further enhancing system stability.

[0043] refer to Figure 6 As shown, this embodiment of the invention also provides a blind zone intrusion event preprocessing device, comprising: The first module is used to obtain the speed of the lateral vehicle, the speed of the vulnerable road user, the lateral distance of the lateral road user, the longitudinal distance of the lateral road user, the lateral offset of the vulnerable road user, and the braking acceleration of the lateral vehicle. The second module is used to determine the overall collision time based on the speed of the lateral vehicle, the speed of the vulnerable road user, and the lateral offset of the vulnerable road user. The third module is used to determine whether there is a collision risk based on the braking acceleration of the vehicle on the side, the system fusion delay time, the safety time threshold, and the comprehensive collision time, and to issue a warning if a collision risk is determined to exist.

[0044] This invention also provides a blind zone intrusion event preprocessing system, including a memory, a processor, and a program stored in the memory and executable on the processor. When the program is executed by the processor, it implements the method described in the above embodiments.

[0045] Taking the example of a processor and memory in a vehicle controller being connected via a bus, the memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory may optionally include memory remotely located relative to the control processor, and these remote memories can be connected to the control device via a network.

[0046] The non-transitory software program and instructions required to implement the methods of the above embodiments are stored in memory and executed by the processor to perform the methods of the above embodiments.

[0047] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0048] This invention also provides a vehicle, including the vehicle control device described in the above embodiments.

[0049] The vehicle can be a private car, such as a sedan, SUV, MPV, or pickup truck. It can also be a commercial vehicle, such as a van, bus, small truck, or large semi-trailer. The vehicle must have an electric motor capable of outputting power or acting as a generator to store mechanical energy. When the vehicle is a new energy vehicle, it can be a hybrid or a pure electric vehicle.

[0050] Since the vehicle applies all the technical solutions of the above-mentioned control device or vehicle controller, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be repeated here.

[0051] Furthermore, one embodiment of the present invention provides a computer-readable storage medium storing computer-executable instructions for performing the above-described method.

[0052] It is worth noting that, since the computer-readable storage medium of the present invention is capable of executing the methods of any of the above embodiments, the specific implementation methods and technical effects of the computer-readable storage medium of the present invention can be referred to the specific implementation methods and technical effects of the methods of any of the above embodiments.

[0053] Furthermore, one embodiment of the present invention provides a computer program product, including a computer program or computer instructions, the computer program or computer instructions being stored in a computer-readable storage medium, a processor of a computer device reading the computer program or computer instructions from the computer-readable storage medium, and the processor executing the computer program or computer instructions to cause the computer device to perform the above-described method.

[0054] It is worth noting that, since the computer program product of the present invention can execute the methods of any of the above embodiments, the specific implementation methods and technical effects of the computer program product of the present invention can be referred to the specific implementation methods and technical effects of the methods of any of the above embodiments.

[0055] It will be understood by those skilled in the art that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically include computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0056] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

Claims

1. A method for preprocessing blind zone intrusion events, characterized in that, The method includes: Acquire the speed of lateral vehicles, the speed of vulnerable road users, the lateral distance of lateral road users, the longitudinal distance of lateral road users, the lateral offset of vulnerable road users, and the braking acceleration of lateral vehicles. The combined collision time is determined based on the speed of the lateral vehicle, the speed of the vulnerable road user, and the lateral offset of the vulnerable road user. The system determines whether there is a collision risk based on the braking acceleration of the vehicle on the side, the system fusion delay time, the safety time threshold, and the overall collision time, and issues a warning if a collision risk is determined to exist.

2. The method according to claim 1, characterized in that, The method further includes: The vehicle's speed is obtained, and after determining that the vehicle's speed is greater than a preset speed threshold, the speed of the side vehicle, the speed of the vulnerable road user, the lateral distance of the side road user, the longitudinal distance of the side road user, the lateral offset of the vulnerable road user, and the braking acceleration of the side vehicle are obtained.

3. The method according to claim 1, characterized in that, The determination of the overall collision time based on the speed of the lateral vehicle, the speed of the vulnerable road user, and the lateral offset of the vulnerable road user includes: The lateral relative speed and longitudinal relative speed of the lateral traffic participants are determined based on the speed of the vehicles on the side and the speed of the vulnerable traffic participants. The lateral collision time is determined based on the lateral distance of the lateral traffic participants, the lateral offset of the vulnerable traffic participants, and the lateral relative velocity of the lateral traffic participants; the longitudinal collision time is determined based on the longitudinal distance of the lateral traffic participants and the longitudinal relative velocity of the lateral traffic participants. The smaller of the lateral collision time and the longitudinal collision time is taken as the composite collision time.

4. The method according to claim 3, characterized in that, The speed of the lateral vehicle includes the lateral speed and the longitudinal speed of the lateral vehicle; the speed of the vulnerable road user includes the lateral speed and the longitudinal speed of the vulnerable road user. The determination of the lateral relative speed and longitudinal relative speed of the lateral traffic participants based on the speed of the vehicles on the side and the speed of the vulnerable traffic participants includes: Obtain the lateral velocity of the vulnerable road user and the lateral velocity of the vehicle to the side, and calculate the difference between the lateral velocity of the vulnerable road user and the lateral velocity of the vehicle to the side to obtain the lateral relative velocity of the road user. Obtain the longitudinal velocity of the vulnerable road user and the longitudinal velocity of the vehicle to the side, and then calculate the difference between the longitudinal velocities of the vulnerable road user and the vehicle to the side to obtain the longitudinal relative velocity of the vehicle to the side.

5. The method according to claim 1, characterized in that, The determination of whether a collision risk exists based on the braking acceleration of the lateral vehicle, the system fusion delay time, the safety time threshold, and the overall collision time includes: Obtain the system fusion latency and security time threshold; The system fusion delay distance is determined based on the system fusion delay time and the speed of the lateral vehicle, and the sum of the system fusion delay distance and the braking safety distance is taken as the braking distance; Determine the relative distances of lateral traffic participants. If the relative distances of lateral traffic participants do not exceed the braking distance and the total collision time does not exceed the safe time threshold, then a collision risk is determined.

6. The method according to claim 5, characterized in that, Determining the relative distances of lateral traffic participants includes: The braking time required is determined based on the braking acceleration and speed of the vehicle on the side. The safe braking distance is determined based on the braking acceleration of the vehicle on the side, the speed of the vehicle on the side, and the time required for braking. The relative distances of lateral traffic participants are determined based on their lateral and longitudinal distances.

7. The method according to claim 1, characterized in that, The method further includes: Once the collision risk is determined to be eliminated, the warning will be discontinued.

8. A blind zone intrusion event preprocessing device, characterized in that, The device includes: The first module is used to obtain the speed of the lateral vehicle, the speed of the vulnerable road user, the lateral distance of the lateral road user, the longitudinal distance of the lateral road user, the lateral offset of the vulnerable road user, and the braking acceleration of the lateral vehicle. The second module is used to determine the overall collision time based on the speed of the lateral vehicle, the speed of the vulnerable road user, and the lateral offset of the vulnerable road user. The third module is used to determine whether there is a collision risk based on the braking acceleration of the vehicle on the side, the system fusion delay time, the safety time threshold, and the comprehensive collision time, and to issue a warning if a collision risk is determined to exist.

9. A blind zone intrusion event preprocessing system, characterized in that, It includes a memory, a processor, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the method of any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method of any one of claims 1 to 7.

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