Doubling auxiliary device and vehicle

Abstract

The invention relates to the technical field of vehicles, and provides a doubling auxiliary device and a vehicle. According to the doubling auxiliary device provided by the invention, the radar and the camera are arranged in a manner that the field angles of the radar and the camera are partially overlapped, so that the information of the rear vehicles collected by the radar and the camera respectively during doubling has correlation, and the information of the rear vehicles collected by the radar and the camera respectively has correlation when the information of the radar and the camera is processed; the information acquired by the radar and the camera can be fused in a cooperative manner, so that more accurate and reliable doubling risk prompt information can be obtained, the radar and the camera do not work independently but cooperate with each other to play a complementary role, and the obstacle recognition precision and the system reliability in a complex traffic scene are remarkably improved.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a lane change assist device and a vehicle. Background Technology

[0002] In the existing technology, the lane change assist mechanism of traditional buses has reached a technical bottleneck. In complex traffic scenarios, the response is lagging. For example, it cannot accurately identify vehicles that are rapidly approaching from the diagonal rear, which increases the risk of misjudgment. In addition, the detection area of ​​the lane change assist mechanism is limited, and it is insufficient to deal with blind spots. Summary of the Invention

[0003] In view of this, this application provides a lane change assist device and a vehicle, with the aim of solving the above-mentioned technical problems to a certain extent.

[0004] A first aspect of this application provides a lane change assist device, the lane change assist device being used in a vehicle, the lane change assist device comprising: A connecting plate for connecting to the vehicle; An auxiliary device includes a main body, a camera, and multiple radars, wherein the camera and the multiple radars are all mounted on the main body, and the radars and the camera are arranged such that the field of view of the radars and the camera partially overlap. The auxiliary device has an extending direction, and the connecting plate has a first guide groove and a second guide groove that are opposite to each other in the extending direction. The two ends of the auxiliary device in the extending direction are respectively disposed in the first guide groove and the second guide groove, so that the auxiliary device can move along the first guide groove and the second guide groove.

[0005] Based on the above technical solutions, optionally, the connecting plate has a first plate portion and a second plate portion that are perpendicular to each other, and the connecting plate also has a transition plate portion that connects the first plate portion and the second plate portion; The first guide groove and the second guide groove are both located in the transition plate portion. The two ends of the first guide groove extend to the first plate portion and the second plate portion, respectively, and the two ends of the second guide groove extend to the first plate portion and the second plate portion, respectively.

[0006] Based on any of the above technical solutions, optionally, the connecting plate has a first plate portion and a second plate portion that are perpendicular to each other, and the connecting plate also has a transition plate portion connecting the first plate portion and the second plate portion; The first guide groove and the second guide groove are both located in the transition plate portion. The lane-changing auxiliary device further includes two rotating boxes, which are respectively disposed on the first plate and the second plate. Each rotating box has a rotating part and an infrared sensor disposed on the rotating part. The rotating part is capable of rotating about an axis extending along the extension direction.

[0007] Based on any of the above technical solutions, optionally, the plurality of radars are symmetrical about an axis of symmetry that passes through the camera and is perpendicular to the extending direction.

[0008] Optionally, based on any of the above technical solutions, the lane change assist device includes a plurality of connectors, the plurality of connectors being disposed on the connecting plate and detachably connecting the connecting plate to the vehicle; The paralleling auxiliary device further includes an auxiliary plate and multiple elastic members. The multiple connecting members pass through the auxiliary plate, and the multiple elastic members are arranged in a one-to-one correspondence with the multiple connecting members. The elastic members are disposed between the auxiliary plate and the connecting plate and respectively abut against the auxiliary plate and the connecting plate.

[0009] Optionally, based on any of the above technical solutions, the paralleling auxiliary device further includes a buffer component, which is disposed between the connecting plate and the auxiliary plate, and is used to buffer the impact between the connecting plate and the auxiliary plate.

[0010] Based on any of the above technical solutions, optionally, the connecting plate has a first plate portion and a second plate portion that are perpendicular to each other, and the connecting plate also has a transition plate portion connecting the first plate portion and the second plate portion; The first guide groove and the second guide groove are both located in the transition plate portion. The first plate portion has a first mounting cavity, the second plate portion has a second mounting cavity, and the paralleling auxiliary device further includes a plurality of first fans and a plurality of second fans. The plurality of first fans are disposed in the first mounting cavity, and the plurality of second fans are disposed in the second mounting cavity. The first mounting cavity has a first guide hole penetrating the first plate portion, and the second mounting cavity has a second guide hole penetrating the second plate portion.

[0011] Optionally, based on any of the above technical solutions, the connecting plate may further have a first heat dissipation grille and a second heat dissipation grille, wherein the first heat dissipation grille is disposed on the outside of the first mounting cavity, and the second heat dissipation grille is disposed on the outside of the second mounting cavity.

[0012] Optionally, based on any of the above technical solutions, both the first guide groove and the second guide groove are arc-shaped grooves.

[0013] A second aspect of this application provides a vehicle that includes the lane change assist device described above.

[0014] According to the lane change assist device provided in this application, since the radar and camera are arranged so that their fields of view partially overlap, the information of vehicles behind during lane changes collected by the radar and camera respectively is correlated. When processing the information from both the radar and camera, the information obtained by the radar and camera can be fused in a collaborative manner to obtain more accurate and reliable lane change risk warning information. In this way, the radar and camera do not work alone, but cooperate with each other and play a complementary role, which significantly improves the obstacle recognition accuracy and system reliability in complex traffic scenarios.

[0015] According to the lane-change assist device provided in this application, since the assist device can move along the first guide groove and the second guide groove, the camera and radar are allowed to scan a larger detection range as the assist device moves, thereby effectively improving the detection range, reducing the coverage of blind spots, and improving the efficiency of the lane-change assist system.

[0016] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic diagram showing a three-dimensional view of a lane-keeping assist device provided according to an embodiment of this application is provided; Figure 2 A schematic diagram of yet another three-dimensional view of the lane-changing auxiliary device provided according to an embodiment of this application is shown; Figure 3 It shows Figure 2 A magnified view of point A in the diagram; Figure 4 A schematic diagram of another three-dimensional view of the lane-keeping assist device provided according to an embodiment of this application is shown; Figure 5 A schematic diagram of a three-dimensional view of the drive structure of the auxiliary box of the parallel lane assist device provided according to an embodiment of this application is shown.

[0019] Figure label: 1-Car body; 2-Connecting plate; 3-Connecting bolt; 31-Auxiliary plate; 32-Spring; 4-Rotating motor; 41-Rotating box; 42-Infrared sensor; 5-Heat dissipation grille; 51-Axial flow fan; 6-Auxiliary device; 61-Radar; 62-Camera; 63-Servo motor; 631-Limit block; 64-Straight shaft; 65-Transmission gear; 66-Arc rack. Detailed Implementation

[0020] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0021] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0022] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0023] Furthermore, the technical solutions of the various embodiments can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0024] According to a first aspect of the embodiments of this application, a lane-changing auxiliary device is provided, which will be described below in conjunction with... Figures 1 to 5 Describe in detail the structure and working principle of the parallel lane assist device.

[0025] The inventors of this application recognize that the problems of existing lane-changing auxiliary mechanisms are mainly reflected in two core issues: limited environmental perception and rigid mechanical structure, which seriously restrict the improvement of lane-changing safety.

[0026] First, the failure of multi-sensor coordination is the primary drawback. Although existing technologies attempt to fuse camera and radar data, the lack of coordinated design in their physical layout means there is no reference during fusion. The so-called coordination is often just superimposed supplementation of detection in different areas. For example, the camera's field of view covers area A, and the radar detects area B, which is adjacent to area A. Then, the information from the two adjacent areas is simply combined to achieve "superposition".

[0027] Furthermore, objectively speaking, both cameras and radar have their own advantages and disadvantages. For example, cameras are limited by a fixed viewing angle and are prone to missing vehicles to the side or rear in bright light or rainy / foggy weather; while radar can compensate for blind spots, its fixed installation position leads to errors in calculating the lateral distance of vehicles cutting into adjacent lanes. Simply combining the information obtained from both cannot eliminate their respective shortcomings.

[0028] Furthermore, the infrared sensor modules in most vehicles exhibit varying performance under different speeds and road conditions, resulting in unstable operation and insufficient reliability, which is directly related to their fixed-point installation method. Therefore, infrared sensor modules essentially cannot cover the near-field blind spots during low-speed following, nor can they extend the far-field detection range during high-speed lane changes. This "perception island" phenomenon, combined with the aforementioned layout difficulties of cameras and radar, directly leads to a lag in the system's response to complex traffic scenarios, such as the inability to accurately identify vehicles rapidly approaching from the rear, increasing the risk of misjudgment.

[0029] Furthermore, the insufficient adaptability of the mechanical structure further exacerbates the performance shortcomings. The sensor carriers of traditional devices are mostly rigidly connected, and the high-frequency vibrations during bus operation can easily reduce accuracy or even cause functional failure with prolonged use. Even more serious is the disconnect between the cooling system and the mechanical structure; the axial flow fan can only generate localized airflow and cannot provide targeted cooling for rotating parts and motors. Under prolonged parallel auxiliary operation, a sudden rise in temperature inside the equipment compartment may trigger sensor thermal drift or motor overload protection, directly leading to system failure.

[0030] In view of this, the lane change assist device provided according to the embodiments of this application is used in a vehicle and includes a connecting plate and an assist device.

[0031] In one embodiment, a connecting plate is used to connect to a vehicle. The auxiliary device includes a main body, a camera, and multiple radars. The camera and multiple radars are all mounted on the main body, and the radars and camera are arranged such that their fields of view partially overlap.

[0032] In one embodiment, the auxiliary device has an extending direction, and the connecting plate has a first guide groove and a second guide groove that are opposite to each other in the extending direction. The two ends of the auxiliary device in the extending direction are respectively disposed in the first guide groove and the second guide groove, so that the auxiliary device can move along the first guide groove and the second guide groove.

[0033] According to the lane change assist device provided in the embodiments of this application, since the radar and camera are arranged so that their fields of view partially overlap, the information of the vehicles behind when changing lanes collected by the radar and camera respectively is correlated. When processing the information from the radar and camera, the information obtained by the radar and camera can be fused in a cooperative manner to obtain more accurate and reliable lane change risk warning information. In this way, the radar and camera do not work alone, but cooperate with each other and play a complementary role, which significantly improves the obstacle recognition accuracy and system reliability in complex traffic scenarios.

[0034] According to the lane-change assist device provided in the embodiments of this application, since the assist device can move along the first guide groove and the second guide groove, the camera and radar are allowed to scan a larger detection range as the assist device moves, thereby effectively improving the detection range, reducing the coverage of blind spots, and improving the efficiency of the lane-change assist system.

[0035] In one embodiment, as an example, the lane change assist device can be located at the front corner of the vehicle body, which detects oncoming vehicles from the side and rear of the vehicle when the vehicle changes lanes.

[0036] In this embodiment, the main body of the auxiliary device can be strip-shaped, and its extension direction can be, for example, vertical, i.e., the height direction. The number of cameras can be, for example, one, arranged in the middle of the main body, and the radar can be, for example, divided into two groups, respectively positioned above and below the camera. As an example, the two groups of radars can be symmetrical about an axis of symmetry passing through the camera and extending along a direction perpendicular to the height direction (i.e., the horizontal direction); this can be simply referred to as the two groups of radars being symmetrically arranged about the camera.

[0037] In this embodiment, as an example, both the camera and the radar can be communicatively connected to the vehicle's overall controller.

[0038] According to the paralleling auxiliary device provided in the embodiments of this application, the connecting plate may have a first plate portion and a second plate portion that are perpendicular to each other, and the connecting plate may also have a transition plate portion that connects the first plate portion and the second plate portion.

[0039] In the embodiment, both the first guide groove and the second guide groove can be located in the transition plate portion. The two ends of the first guide groove extend to the first plate portion and the second plate portion, respectively, and the two ends of the second guide groove extend to the first plate portion and the second plate portion, respectively.

[0040] In an embodiment, the first plate and the second plate can be located on different sides of the vehicle during installation. For example, since the first plate and the second plate are perpendicular to each other, the first plate can be located on the front side of the vehicle, and the second plate can be located on the left or right side of the vehicle.

[0041] Since both ends of the first guide groove and the second guide groove extend to the first plate and the second plate respectively, the auxiliary device can move from the edge of the first plate to the edge of the second plate. In other words, the auxiliary device can move back and forth between the front side of the vehicle and the left (right) side of the vehicle, realizing the "crossing surface" of the auxiliary device. In this way, the area swept by the auxiliary device is effectively increased, thereby reducing the blind spot coverage when the vehicle changes lanes.

[0042] Compared to fixed-point or multi-point sensing elements (such as radar and cameras) that simply increase the field of view, the parallel assist device provided in the embodiments of this application allows the field of view provided by the sensing element to work dynamically, such as the "cross-surface" operation mentioned above, which is particularly effective in reducing blind spot coverage.

[0043] According to the paralleling auxiliary device provided in the embodiments of this application, the paralleling auxiliary device may further include two rotating boxes, which may be respectively disposed on the first plate and the second plate. The rotating box may have a rotating part and an infrared sensor disposed on the rotating part. The rotating part is capable of rotating about an axis extending in the extension direction.

[0044] Based on the above example, the rotating part can rotate around an axis extending in the height direction, thereby changing the sensing area of ​​the infrared sensor. Similar to the dynamic sweep detection concept of the auxiliary device mentioned above, the dynamic setting of the infrared sensor here also allows the infrared sensor to sweep across a sensing area, or allows the infrared sensor to have more positions that can be reached in advance according to the actual situation, relative to the fixed setting, thereby improving the accuracy of sensing and reducing the coverage of blind spots.

[0045] It is understood that, in the embodiments, the fan-shaped scanning of the infrared sensor, in conjunction with the above-mentioned auxiliary device, further improves the accuracy of sensing and reduces the coverage of blind spots. Therefore, the infrared sensor can also be communicatively connected to the vehicle's overall controller.

[0046] According to the lane change assist device provided in the embodiments of this application, the lane change assist device may include a plurality of connectors, the plurality of connectors being disposed on a connecting plate and detachably connected to the vehicle.

[0047] In an embodiment, the paralleling auxiliary device may further include an auxiliary plate and a plurality of elastic members. The aforementioned plurality of connecting members may be inserted through the auxiliary plate. The aforementioned plurality of elastic members are arranged in a one-to-one correspondence with the aforementioned plurality of connecting members. The elastic members may be disposed between the auxiliary plate and the connecting plate and respectively abut against the auxiliary plate and the connecting plate.

[0048] In an embodiment, such as Figure 3 As shown, the elastic element serves two purposes. Firstly, when the connector acts as a bolt and nut, it provides preload force through the elastic deformation of the element to facilitate the tightening of the screw nut. Secondly, when the vehicle bumps or the lane-keeping assist device is impacted, its own further compression cushions the connection plate and the auxiliary plate. For example, the elastic element can be a coil spring. As an example, both ends of the elastic element can be fixedly connected between the auxiliary plate and the connection plate, respectively.

[0049] According to the lane-changing auxiliary device provided in the embodiments of this application, the lane-changing auxiliary device may further include a buffer member, which may be disposed between the connecting plate and the auxiliary plate, and the buffer member may be used to buffer the impact between the connecting plate and the auxiliary plate. As an example, the buffer member may be, for example, a damper.

[0050] According to the parallel connection auxiliary device provided in the embodiments of this application, the first plate portion may have a first mounting cavity, the second plate portion may have a second mounting cavity, and the parallel connection auxiliary device may also include a plurality of first fans and a plurality of second fans. The plurality of first fans are disposed in the first mounting cavity, and the plurality of second fans are disposed in the second mounting cavity. The first mounting cavity may have a first guide hole penetrating the first plate portion, and the second mounting cavity may have a second guide hole penetrating the second plate portion.

[0051] In this embodiment, both the first fan and the second fan can be axial fans. The operation of the first fan and the second fan can provide airflow through the first mounting cavity and the second mounting cavity to cool and dissipate heat for the aforementioned auxiliary device and infrared sensor.

[0052] According to the parallel connection auxiliary device provided in the embodiments of this application, the connecting plate may further have a first heat dissipation grille and a second heat dissipation grille. The first heat dissipation grille may be installed on the outside of the first mounting cavity, and the second heat dissipation grille may be installed on the outside of the second mounting cavity. Thus, the first and second heat dissipation grilles can provide a certain degree of dust prevention.

[0053] According to the paralleling auxiliary device provided in the embodiments of this application, the first guide groove and the second guide groove can both be arc-shaped grooves. In other words, the auxiliary device can move along an arc-shaped trajectory.

[0054] As an example, the vehicle described above can be, for example, a passenger car, and the car body can be, for example, a passenger car body. The following will describe a more specific implementation of the above technical solution.

[0055] See Figures 1 to 5 In this embodiment, the lane-changing assist device provided according to the present application is essentially a lane-changing assist device for a bus based on multi-sensor fusion. Specifically, an auxiliary device 6 is slidably assembled in a ring inside the connecting plate 2. The auxiliary device 6 is used to monitor lane changes. Two symmetrically arranged rotating boxes 41 are rotatably installed inside the connecting plate 2. The rotating boxes 41 are used to detect the position and distance of obstacles using infrared sensors. At least four sets of symmetrically arranged axial flow fans 51 are installed inside the connecting plate 2. The axial flow fans 51 are used to dissipate heat for the electrical equipment inside the connecting plate 2. As described above, the axial flow fan 51 set on the first plate part of the connecting plate 2 is the first fan, and the axial flow fan 51 set on the second plate part of the connecting plate 2 is the second fan.

[0056] According to the lane-changing assist device provided in this application embodiment, the connecting plate 2 forms a sliding assembly relationship with the assist device 6 through an embedded annular guide rail. The main body of the assist device 6 is an arc-shaped shell, which integrates a camera 62 and a radar 61. It achieves rotational movement in the horizontal plane through the annular guide rail, and is used to monitor the side and rear road conditions when the vehicle changes lanes from multiple angles.

[0057] In this embodiment, two sets of rotating boxes 41 are symmetrically installed at both ends of the connecting plate 2. Each set of rotating boxes 41 is connected to the inner wall of the connecting plate 2 through bearings, and its bottom is driven by a rotating motor 4. The rotating motor 4 transmits torque to the rotating box 41 through a coupling to realize the pitch angle adjustment of the infrared sensor 42. Four sets of axial flow fans 51 are arranged longitudinally inside the connecting plate 2. Each set of axial flow fans 51 is fixed to the inner wall of the connecting plate 2 by a bracket. Its air inlet is aligned with the heat dissipation grille 5 on the outside of the vehicle body 1, and its air outlet faces the dense area of ​​electrical equipment inside the connecting plate 2. Through forced convection, the heat generated by the camera 62, radar 61 and rotating motor 4 during operation is discharged through the heat dissipation grille 5 on the inner wall of the vehicle body 1, forming a complete heat dissipation channel.

[0058] In the embodiment, at least four sets of symmetrically arranged connecting bolts 3 are used between the vehicle body 1 and the connecting plate 2. An auxiliary plate 31 is connected to the connecting bolts 3 on the same side and the vehicle body 1. At least two sets of symmetrically arranged springs 32 are connected to the auxiliary plate 31 and the vehicle body 1. A damper is provided on the spring 32.

[0059] In this embodiment, the connection structure between the vehicle body 1 and the connecting plate 2 specifically employs four sets of high-strength connecting bolts 3. Each set of connecting bolts 3 passes through the auxiliary plate 31 and is threadedly connected to the vehicle body 1. The auxiliary plate 31 is an L-shaped metal part, with its vertical surface fixed to the vehicle body 1 by the connecting bolts 3, and its horizontal surface fitting against the back side of the connecting plate 2. Two sets of springs 32 are installed between the auxiliary plate 31 and the connecting plate 2. The two ends of the springs 32 are connected to the auxiliary plate 31 and the connecting plate 2 respectively by welding. A damper, serving as a buffer, is coaxially embedded inside the spring 32. The piston rod of the damper is fixed to the auxiliary plate 31, and the cylinder is connected to the vehicle body 1.

[0060] In this embodiment, when the vehicle vibrates while driving, the spring 32 absorbs the vibration energy of the connecting plate 2 through elastic deformation, and the damper converts the vibration energy into heat energy through the hydraulic oil flow resistance. The two work together to suppress the resonance phenomenon of the connecting plate 2. At the same time, the preload of the connecting bolt 3 ensures that the rigid connection between the auxiliary plate 31 and the vehicle body 1 is not affected by the deformation of the spring 32.

[0061] In this embodiment, a rotating motor 4 is provided at the bottom of the rotating box 41. The rotating motor 4 is connected to the rotating box 41 via a coaxial coupling. At least two symmetrically arranged infrared sensors 42 are installed on one side of the rotating box 41.

[0062] In this embodiment, the drive system of the rotating box 41 consists of a rotating motor 4, a coupling, and an infrared sensor 42. The main body of the rotating motor 4 is fixed to the inner wall of the connecting plate 2 by bolts, and its output shaft is coaxially connected to the input shaft at the bottom of the rotating box 41 via a coupling. The coupling can adopt a diaphragm structure to compensate for minor deviations between the motor shaft and the axis of the rotating box 41.

[0063] In this embodiment, two sets of infrared sensors 42 can be integrated inside the housing of the rotating box 41. The two sets of infrared sensors 42 are arranged at a 120° angle with the axis of the rotating box 41 as the center of symmetry. The rotation of the rotating box 41 realizes the fan-shaped scanning of the infrared beam. When the motor drives the rotating box 41 to rotate, the infrared beam emitted by the infrared sensors 42 covers the area behind and to the side of the vehicle. The distance to the obstacle is determined by detecting the change in the intensity of the reflected light. The rotation angle of the rotating box 41 is fed back to the control system in real time by the motor encoder.

[0064] In this embodiment, at least one camera 62 and at least two symmetrically arranged radars 61 are provided on one side of the auxiliary device 6. The radars 61 are arranged with the central axis of the camera 62 as the symmetrical point. In other words, there can be two, three, four or even more cameras, and the two sets of radars can be arranged symmetrically with respect to the area where these cameras are arranged.

[0065] In this embodiment, the sensor layout of the auxiliary device 6 adopts a fusion design of camera 62 and radar 61. The camera 62 is fixed in the middle of the housing of the auxiliary device 6, and its lens axis is parallel to the vehicle's driving direction, used to collect visual information from the side and rear of the vehicle; two sets of radars 61 are installed at both ends of the housing of the auxiliary device 6 with the axis of camera 62 as the center of symmetry, and the millimeter-wave beam emitted by radar 61 partially overlaps with the field of view of camera 62.

[0066] In this embodiment, when the vehicle activates the lane change assist function, camera 62 detects lane lines and vehicles behind using an image recognition algorithm, while radar 61 measures the relative speed and distance of vehicles behind using the Doppler effect. The data from both sensors are fused by the onboard computer to generate a lane change risk level warning. The surface of the assist device 6 housing is coated with an infrared-transparent coating to ensure that the radar 61 signal penetrates without obstruction, and the camera 62 lens is made of sapphire glass to resist impacts from sand and gravel.

[0067] In this embodiment, the connecting plate 2 has two symmetrically arranged arc-shaped racks 66 inside, and a servo motor 63 is installed inside the connecting plate 2. The servo motor 63 is connected to the auxiliary device 6 via a coaxially arranged straight shaft 64. The straight shaft 64 has two symmetrically arranged transmission gears 65. Both the transmission gears 65 and the arc-shaped racks 66 are symmetrical about the central axis of the camera 62. The bottom of the servo motor 63 has two limiting blocks 631, i.e., limiting sliders. The two limiting blocks 631 are slidably assembled inside the vehicle body 1.

[0068] In this embodiment, the rotating mechanism of the auxiliary device 6 consists of a servo motor 63, a linear shaft 64, a transmission gear 65, and an arc-shaped rack 66. The main body of the servo motor 63 is fixed to the inner wall of the connecting plate 2 by bolts. Its output shaft is connected to the linear shaft 64 by a rigid coupling. The two ends of the linear shaft 64 are machined with involute splines. The transmission gear 65 is circumferentially fixed to the linear shaft 64 through a spline pair. Two sets of arc-shaped racks 66 are embedded on both sides of the annular guide rail on the inner wall of the connecting plate 2 with the axis of the camera 62 as the center of symmetry. The transmission gear 65 and the arc-shaped racks 66 mesh to form a gear and rack transmission pair. When the servo motor 63 drives the linear shaft 64 to rotate, the transmission gear 65 rolls along the arc-shaped rack 66, pushing the auxiliary device 6 to slide along the annular guide rail. Two sets of limiting blocks 631 are provided at the bottom of the servo motor 63. The limiting blocks 631 are embedded in the linear guide rail on the inner wall of the connecting plate 2 to prevent the linear shaft 64 from shifting when subjected to radial force.

[0069] In this embodiment, two symmetrically arranged heat dissipation grilles 5 are provided on both the outer and inner walls of the vehicle body 1, and at least two symmetrically arranged axial flow fans 51 are provided between the two heat dissipation grilles 5 on the same side.

[0070] In this embodiment, the heat dissipation grille 5 and the axial flow fan 51 together form a heat dissipation system. The heat dissipation grille 5 on the outer side of the vehicle body 1 adopts a louvered structure with a blade tilt angle of 15°, which ensures air intake while preventing rainwater from splashing directly into the interior of the connecting plate 2; the heat dissipation grille 5 on the inner wall of the vehicle body 1 is a perforated mesh plate with a hole diameter of 2mm to block foreign objects from entering. Four sets of axial flow fans 51 are arranged in two layers inside the connecting plate 2. The air inlets of the upper two sets of axial flow fans 51 face the heat dissipation grille 5 on the outer side of the vehicle body 1, and the air outlets of the lower two sets of axial flow fans 51 face the heat dissipation grille 5 on the inner wall of the vehicle body 1, forming a convective "through wind" effect.

[0071] In this embodiment, when the axial flow fan 51 is running, external cold air enters the connecting plate 2 through the outer heat dissipation grille 5, flows over the surface of the camera 62, radar 61 and rotating motor 4, and the air carrying heat is discharged through the inner wall heat dissipation grille 5. The heat dissipation path is optimized by the guide ribs inside the connecting plate 2 to avoid airflow short circuit.

[0072] Compared with the prior art, the lane change assist device provided according to the embodiments of this application, through the arrangement of the assist device and the ring guide rail, the rotating box and the rotating motor, etc., the assist device rotates along the ring guide rail, and integrates a camera and radar to perform horizontal full-coverage monitoring of the road conditions to the side and rear; the rotating box adjusts the pitch angle of the infrared sensor through the motor drive to form a fan-shaped scanning area. The synergistic effect of the two significantly improves the detection range and blind spot coverage, and optimizes the use efficiency of the lane change assist system.

[0073] According to the lane-keeping assist device provided in the embodiments of this application, the spring and damper work together to suppress the impact of driving vibration on the sensor through the setting of structures such as connecting plates and cameras, ensuring the stability of data acquisition; the camera and radar field of view partially overlap, and combined with the dynamic scanning of infrared sensors, a multimodal perception network is constructed, which significantly improves the obstacle recognition accuracy and system reliability in complex traffic scenarios.

[0074] According to a second aspect of the embodiments of this application, a vehicle is provided, which includes the lane change assist device as described above. The vehicle may be, for example, a passenger car, and also has the above-mentioned beneficial effects, which will not be repeated here.

[0075] The above are merely preferred embodiments of this application and do not limit the scope of protection of this application. Any equivalent structural transformations made based on the innovative concept of this application and the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included within the scope of protection of this application.

Claims

1. A lane-changing auxiliary device, characterized in that, The lane change assist device is used in a vehicle, and the lane change assist device includes: A connecting plate for connecting to the vehicle; An auxiliary device includes a main body, a camera, and multiple radars, wherein the camera and the multiple radars are all mounted on the main body, and the radars and the camera are arranged such that the field of view of the radars and the camera partially overlap. The auxiliary device has an extending direction, and the connecting plate has a first guide groove and a second guide groove that are opposite to each other in the extending direction. The two ends of the auxiliary device in the extending direction are respectively disposed in the first guide groove and the second guide groove, so that the auxiliary device can move along the first guide groove and the second guide groove.

2. The paralleling auxiliary device according to claim 1, characterized in that, The connecting plate has a first plate portion and a second plate portion that are perpendicular to each other, and the connecting plate also has a transition plate portion connecting the first plate portion and the second plate portion; The first guide groove and the second guide groove are both located in the transition plate portion. The two ends of the first guide groove extend to the first plate portion and the second plate portion, respectively, and the two ends of the second guide groove extend to the first plate portion and the second plate portion, respectively.

3. The paralleling auxiliary device according to claim 1, characterized in that, The connecting plate has a first plate portion and a second plate portion that are perpendicular to each other, and the connecting plate also has a transition plate portion connecting the first plate portion and the second plate portion; The first guide groove and the second guide groove are both located in the transition plate portion. The lane-changing auxiliary device further includes two rotating boxes, which are respectively disposed on the first plate and the second plate. Each rotating box has a rotating part and an infrared sensor disposed on the rotating part. The rotating part is capable of rotating about an axis extending along the extension direction.

4. The paralleling auxiliary device according to claim 1, characterized in that, The plurality of radars are symmetrical about an axis of symmetry that passes through the camera and is perpendicular to the direction of extension.

5. The paralleling auxiliary device according to claim 1, characterized in that, The lane change assist device includes multiple connectors, which are disposed on the connecting plate and detachably connected to the vehicle. The paralleling auxiliary device further includes an auxiliary plate and multiple elastic members. The multiple connecting members pass through the auxiliary plate, and the multiple elastic members are arranged in a one-to-one correspondence with the multiple connecting members. The elastic members are disposed between the auxiliary plate and the connecting plate and respectively abut against the auxiliary plate and the connecting plate.

6. The paralleling auxiliary device according to claim 5, characterized in that, The paralleling auxiliary device also includes a buffer component, which is disposed between the connecting plate and the auxiliary plate, and is used to buffer the impact between the connecting plate and the auxiliary plate.

7. The paralleling auxiliary device according to claim 1, characterized in that, The connecting plate has a first plate portion and a second plate portion that are perpendicular to each other, and the connecting plate also has a transition plate portion connecting the first plate portion and the second plate portion; The first guide groove and the second guide groove are both located in the transition plate portion. The first plate portion has a first mounting cavity, the second plate portion has a second mounting cavity, and the paralleling auxiliary device further includes a plurality of first fans and a plurality of second fans. The plurality of first fans are disposed in the first mounting cavity, and the plurality of second fans are disposed in the second mounting cavity. The first mounting cavity has a first guide hole penetrating the first plate portion, and the second mounting cavity has a second guide hole penetrating the second plate portion.

8. The paralleling auxiliary device according to claim 7, characterized in that, The connecting plate also has a first heat dissipation grille and a second heat dissipation grille, the first heat dissipation grille being disposed on the outside of the first mounting cavity, and the second heat dissipation grille being disposed on the outside of the second mounting cavity.

9. The paralleling auxiliary device according to any one of claims 1 to 8, characterized in that, Both the first guide groove and the second guide groove are arc-shaped grooves.

10. A vehicle, characterized in that, The vehicle includes a lane-change assist device as described in any one of claims 1 to 9.

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