Parallel wire auxiliary device and vehicle

Abstract

The application relates to the technical field of vehicles and provides a lane-merging auxiliary device and a vehicle. According to the lane-merging auxiliary device provided by the application, the radar and the camera are arranged such that the field angles of the radar and the camera partially overlap, so that the information of the rear vehicle collected by the radar and the camera during lane merging has relevance, when the information of the radar and the camera is processed, the information obtained by the radar and the camera can be fused in a cooperative manner, so that more accurate and reliable lane-merging risk prompt information is obtained, so that the radar and the camera do not work independently, but cooperate with each other, play a complementary role, and significantly improve the obstacle recognition accuracy and system reliability in a complex traffic scene.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a lane-merging auxiliary device and a vehicle. BACKGROUND

[0002] In the prior art, the lane-merging auxiliary mechanism of a traditional passenger vehicle has reached a technical bottleneck, and the response is lagging in a complex traffic scene. For example, if a vehicle approaching from the oblique rear side cannot be accurately identified, the risk of misjudgment is increased. Moreover, the detection area of the lane-merging auxiliary mechanism is limited, and the response to the blind area is insufficient. SUMMARY

[0003] Therefore, the present application provides a lane-merging auxiliary device and a vehicle, which aims to solve the above technical problems to some extent.

[0004] The first aspect of the present application provides a lane-merging auxiliary device, which is used in a vehicle and includes:

[0005] A connecting plate, which is used to be connected to the vehicle;

[0006] An auxiliary device, which includes a main body, a camera and a plurality of radars. The camera and the plurality of radars are arranged on the main body. The radars and the camera are arranged such that the field of view angles of the radars and the camera partially overlap.

[0007] The auxiliary device has an extension direction. The connecting plate has a first guide slot and a second guide slot opposite to each other in the extension direction. The two ends of the auxiliary device in the extension direction are arranged in the first guide slot and the second guide slot, respectively, so that the auxiliary device can move along the first guide slot and the second guide slot.

[0008] On the basis of the above technical solution, the connecting plate has a first plate portion and a second plate portion perpendicular to each other. The connecting plate also has a transition plate portion connected between the first plate portion and the second plate portion.

[0009] The first guide slot and the second guide slot are both located in the transition plate portion. The two ends of the first guide slot extend to the first plate portion and the second plate portion, respectively. The two ends of the second guide slot extend to the first plate portion and the second plate portion, respectively.

[0010] On the basis of any one of the above technical solutions, the connecting plate has a first plate portion and a second plate portion perpendicular to each other. The connecting plate also has a transition plate portion connected between the first plate portion and the second plate portion.

[0011] The first guide slot and the second guide slot are both located in the transition plate portion.

[0012] 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.

[0013] 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.

[0014] 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;

[0015] 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.

[0016] 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.

[0017] 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;

[0018] The first guide groove and the second guide groove are both located in the transition plate portion.

[0019] 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.

[0020] 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.

[0021] In any of the above technical solutions, optionally, the first guide groove and the second guide groove are both arc-shaped grooves.

[0022] The second aspect of the present application provides a vehicle comprising the lane merging assistance device as described above.

[0023] According to the lane merging assistance device provided by the present application, since the radar and the camera are arranged such that the field angles of the radar and the camera partially overlap, the information of the rear vehicle during lane merging collected by the radar and the camera respectively has relevance, and when the information of the radar and the camera is processed, the information obtained by the radar and the camera can be fused in a cooperative manner, so as to obtain more accurate and reliable lane merging risk prompt information. In this way, the radar and the camera do not work independently, but cooperate with each other, and play a complementary role, which significantly improves the obstacle recognition accuracy and system reliability in a complex traffic scene.

[0024] According to the lane merging assistance device provided by the present application, since the assistant can move along the first guide groove and the second guide groove, the camera and the radar can sweep a larger detection range along with the movement of the assistant, so as to effectively improve the detection range and reduce the coverage rate of the blind area, and at the same time, the use efficiency of the lane merging assistance system is improved.

[0025] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the following preferred embodiments are described in detail below, and the accompanying drawings are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be considered as a limitation to the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0027] Figure 1 Fig. 1 shows a schematic diagram of a three-dimensional view of a lane merging assistance device according to an embodiment of the present application;

[0028] Figure 2 Fig. 2 shows a schematic diagram of another three-dimensional view of a lane merging assistance device according to an embodiment of the present application;

[0029] Figure 3 Fig. 3 shows a schematic diagram of a three-dimensional view of a lane merging assistance device according to an embodiment of the present application; Figure 2 Fig. 4 shows a schematic diagram of an enlarged view of position A in Fig. 3;

[0030] Figure 4 Fig. 5 shows a schematic diagram of another three-dimensional view of a lane merging assistance device according to an embodiment of the present application;

[0031] Figure 5 A schematic diagram showing a three-dimensional view of a driving structure of an auxiliary box of the parallel line assisting device provided by the embodiment of the application is shown.

[0032] Reference signs:

[0033] 1 - vehicle 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-shaped rack. DETAILED DESCRIPTION

[0034] The technical solutions of the application will be described clearly and completely below in conjunction with the drawings. Obviously, the described embodiments are only some of the embodiments of the application, rather than all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the application.

[0035] In the description of the application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0036] In the description of the application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0037] In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that a person skilled in the art can realize it, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor is it within the scope of protection claimed by the application.

[0038] According to the first aspect of the embodiment of the application, a parallel line assisting device is provided, which will be described below in conjunction with Figures 1 to 5Describe in detail the structure and working principle of the parallel lane assist device.

[0039] 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.

[0040] 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".

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] In embodiments, the connecting plate is configured to be connected to a vehicle, the assistant comprises a main body, a camera and a plurality of radars, the camera and the plurality of radars are arranged on the main body, and the radars and the camera are arranged such that the field of view angles of the radars and the camera partially overlap.

[0046] In embodiments, the assistant has an extending direction, the connecting plate has a first guide slot and a second guide slot opposite to each other in the extending direction, and two ends of the assistant in the extending direction are arranged in the first guide slot and the second guide slot respectively, so that the assistant can move along the first guide slot and the second guide slot.

[0047] According to the lane-joining assistant device provided in the embodiments of the present application, because the radars and the camera are arranged such that the field of view angles of the radars and the camera partially overlap, the information of the rear vehicle collected by the radars and the camera respectively has relevance, and when the information of the radars and the camera is processed, the information obtained by the radars and the camera can be fused in a cooperative manner, so that more accurate and reliable lane-joining risk prompt information is obtained. In this way, the radars and the camera do not work independently, but cooperate with each other, and complement each other, so that the obstacle recognition accuracy and system reliability in a complex traffic scene are significantly improved.

[0048] According to the lane-joining assistant device provided in the embodiments of the present application, because the assistant can move along the first guide slot and the second guide slot, the camera and the radars can sweep a larger detection range along with the movement of the assistant, so that the detection range is effectively improved, the coverage rate of the blind area is reduced, and the use efficiency of the lane-joining assistant system is improved.

[0049] In embodiments, as an example, the lane-joining assistant device can be arranged at the front corner of the vehicle body of the vehicle, because the lane-joining assistant device is arranged at the front corner of the vehicle body of the vehicle, the lane-joining assistant device can detect the oncoming vehicle condition of the side rear of the vehicle when the vehicle is joining a lane.

[0050] In embodiments, the main body of the assistant can be in a strip shape, and the extending direction of the main body can be, for example, a vertical direction, that is, a height direction. The number of the camera can be, for example, one, and the camera is arranged at the middle of the main body. The radars can be divided into two groups, and the two groups of radars are arranged on the upper side and the lower side of the camera respectively. As an example, the two groups of radars can be symmetrical about a symmetrical axis that passes through the camera and extends along a direction perpendicular to the height direction, that is, a horizontal direction. Here, the two groups of radars can be simply referred to as being arranged symmetrically about the camera.

[0051] In embodiments, as an example, the camera and the radars can be communicatively connected to the vehicle controller of the vehicle.

[0052] According to the lane-joining assistant device provided in the embodiments of the present application, the connecting plate can have a first plate portion and a second plate portion perpendicular to each other, and the connecting plate can further have a transition plate portion connected between the first plate portion and the second plate portion.

[0053] In embodiments, the first guide groove and the second guide groove can both be located on the transition plate portion, two ends of the first guide groove respectively extend to the first plate portion and the second plate portion, and two ends of the second guide groove respectively extend to the first plate portion and the second plate portion.

[0054] In embodiments, the first plate portion and the second plate portion can be located on different sides of the vehicle when installed, for example, because the first plate portion and the second plate portion are perpendicular to each other, the first plate portion can be located on the front side of the vehicle, and the second plate portion can be located on the left side or the right side of the vehicle.

[0055] Because the two ends of the first guide groove and the second guide groove respectively extend to the first plate portion and the second plate portion, that is, the assistant can move from the edge of the first plate portion to the edge of the second plate portion, that is, the assistant can reciprocate between the front side of the vehicle and the left side (or the right side) of the vehicle, realizing the “crossing” of the assistant, in this way, the scanning area of the assistant is effectively increased, thereby reducing the blind area coverage rate when the vehicle is merging.

[0056] Compared with the setting mode of increasing the field of view angle of the sensing element (such as radar and camera) at a fixed point or multiple points, the merging assistant device provided in embodiments of the present application enables the field of view provided by the sensing element to work in a dynamic manner, such as the “crossing” working mode described above, which is particularly effective in reducing the blind area coverage rate.

[0057] According to the merging assistant device provided in embodiments of the present application, the merging assistant device can further include two rotating boxes, which can be respectively arranged on the first plate portion and the second plate portion, the rotating box can have a rotating portion and an infrared sensor arranged on the rotating portion, and the rotating portion can rotate around an axis extending in the height direction.

[0058] According to the above example, the rotating portion can rotate around an axis extending in the height direction, thereby changing the sensing area of the infrared sensor. Similarly to the dynamic scanning detection concept of the assistant described above, the dynamic setting of the infrared sensor also enables the infrared sensor to scan a sensing area, or enables the infrared sensor to have more positions that can be reached in advance according to actual conditions compared with the fixed point setting. In this way, the sensing accuracy is improved and the blind area coverage rate is reduced.

[0059] It can be understood that, in embodiments, the fan-shaped scanning of the infrared sensor in combination with the assistant described above further improves the effect of improving the sensing accuracy and reducing the blind area coverage rate, and therefore the infrared sensor can also be communicatively connected to the vehicle controller.

[0060] According to the merging assistant device provided in embodiments of the present application, the merging assistant device can include a plurality of connecting members, the plurality of connecting members are arranged on the connecting plate and detachably connect the connecting plate to the vehicle.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] As an example, the vehicle as above may, for example, be a passenger car, and the vehicle body may, for example, be a passenger car body. More specific embodiments of the technical solutions as above will be described in detail below.

[0069] Referring to Figures 1 to 5 In this embodiment, the weaving auxiliary device provided by the embodiment of the application is essentially a weaving auxiliary device for a passenger car based on multi-sensor fusion. Specifically, the auxiliary device 6 is annularly slidably arranged inside the connecting plate 2, the auxiliary device 6 is used for monitoring weaving, two symmetrical rotary boxes 41 are rotatably arranged inside the connecting plate 2, the rotary boxes 41 are used for the position distance of infrared sensing obstacles, at least four groups of symmetrical axial flow fans 51 are arranged inside the connecting plate 2, and the axial flow fans 51 are used for heat dissipation for electrical equipment inside the connecting plate 2. As described above, the axial flow fan 51 arranged on the first plate part of the connecting plate 2 is a first fan, and the axial flow fan 51 arranged on the second plate part of the connecting plate 2 is a second fan.

[0070] According to the weaving auxiliary device provided by the embodiment of the application, the connecting plate 2 is slidably arranged with the auxiliary device 6 through the embedded annular guide rail. The auxiliary device 6 is mainly an arc-shaped shell, a camera 62 and a radar 61 are integrated inside the auxiliary device 6, rotation in the horizontal plane is realized through the annular guide rail, and the road conditions behind and on the side during weaving of the vehicle are monitored at multiple angles.

[0071] In the embodiment, two groups of rotary boxes 41 are symmetrically arranged at both ends of the connecting plate 2, each group of rotary boxes 41 is connected with the inner wall of the connecting plate 2 through a bearing, the bottom of each group of rotary boxes 41 is driven by a rotary motor 4, the rotary motor 4 transmits torque to the rotary box 41 through a shaft coupling, and the pitch angle of an infrared sensor 42 is adjusted. Four groups of axial flow fans 51 are arranged longitudinally inside the connecting plate 2, each group of axial flow fans 51 is fixed to the inner wall of the connecting plate 2 through a support, the air inlet of each group of axial flow fans 51 is aligned with the heat dissipation grille 5 on the outside of the vehicle body 1, the air outlet is directed to the dense area of electrical equipment inside the connecting plate 2, heat generated during operation of the camera 62, the radar 61 and the rotary motor 4 is discharged through the heat dissipation grille 5 on the inner wall of the vehicle body 1 through forced convection, and a complete heat dissipation channel is formed.

[0072] In the embodiment, at least four groups of symmetrical connecting bolts 3 are arranged between the vehicle body 1 and the connecting plate 2, the connecting bolts 3 on the same side are jointly connected with the vehicle body 1, an auxiliary plate 31 is jointly connected between the auxiliary plate 31 and the vehicle body 1, at least two groups of symmetrical springs 32 are jointly connected between the auxiliary plate 31 and the vehicle body 1, and dampers are arranged on the springs 32.

[0073] In the embodiment, the connecting structure between the vehicle body 1 and the connecting plate 2 adopts four groups of high-strength connecting bolts 3. Each group of connecting bolts 3 penetrates through an auxiliary plate 31 and is threadedly connected with the vehicle body 1. The auxiliary plate 31 is an L-shaped metal piece, the vertical surface of which is fixed to the vehicle body 1 through the connecting bolts 3, and the horizontal surface is attached to the back side of the connecting plate 2. Two groups of springs 32 are arranged between the auxiliary plate 31 and the connecting plate 2. The two ends of the spring 32 are respectively connected with the auxiliary plate 31 and the connecting plate 2 through welding. The spring 32 is coaxially embedded with a damper as a buffer inside. The piston rod of the damper is fixed with the auxiliary plate 31, and the cylinder body is connected with the vehicle body 1.

[0074] In the embodiment, when the vehicle is running and vibrating, 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 flow resistance of hydraulic oil. The two work together to suppress the resonance phenomenon of the connecting plate 2. At the same time, the pre-tightening force 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.

[0075] In the embodiment, the bottom of the rotating box 41 is provided with a rotating motor 4, and the rotating motor 4 is connected with the rotating box 41 through a coaxially arranged shaft coupling. One side of the rotating box 41 is provided with at least two symmetrically arranged infrared sensors 42.

[0076] In the embodiment, the driving system of the rotating box 41 is composed of the rotating motor 4, the shaft coupling and the infrared sensor 42. The main body of the rotating motor 4 is fixed to the inner wall of the connecting plate 2 through bolts, and the output shaft is coaxially connected with the input shaft at the bottom of the rotating box 41 through the shaft coupling. The shaft coupling can adopt a diaphragm structure to compensate for the slight deviation of the motor shaft and the axis of the rotating box 41.

[0077] In the embodiment, two groups of infrared sensors 42 can be integrated inside the rotating box 41. The two groups of infrared sensors 42 are arranged at an angle of 120° with the axis of the rotating box 41 as the center of symmetry. The fan-shaped scanning of the infrared light beams is realized through the rotation of the rotating box 41. When the motor drives the rotating box 41 to rotate, the infrared light beams emitted by the infrared sensors 42 cover the area behind the vehicle. The distance of the obstacle is determined by detecting the change of the reflected light intensity. The rotation angle of the rotating box 41 is fed back to the control system in real time by the motor encoder.

[0078] In the embodiment, at least one camera 62 and at least two symmetrically arranged radars 61 are arranged on one side of the auxiliary device 6. The radars 61 are arranged symmetrically about the central axis of the camera 62. In other words, the camera can also be two, three, four or even more, and the two groups of radars can be arranged symmetrically about the area of these cameras.

[0079] In an embodiment, the sensor layout of the assistant 6 adopts a fusion design of the camera 62 and the radar 61. The camera 62 is fixed in the middle of the assistant 6 shell, and its lens axis is parallel to the driving direction of the vehicle, which is used to collect the visual information of the rear side of the vehicle; two groups of radars 61 are installed at both ends of the assistant 6 shell with the camera 62 axis as the center of symmetry, and the millimeter wave beams emitted by the radars 61 partially overlap with the field of view angle of the camera 62.

[0080] In an embodiment, when the vehicle starts the lane-keeping assistant function, the camera 62 detects the lane line and the rear vehicle through the image recognition algorithm, and the radar 61 measures the relative speed and distance of the rear vehicle through the Doppler effect. After the fusion of the data of the two groups of sensors by the vehicle-mounted computer, the lane-keeping risk level prompt is generated. The surface of the assistant 6 shell is coated with an infrared wave-transparent coating to ensure that the radar 61 signal penetration is not blocked, and at the same time, the camera 62 lens adopts sapphire glass material to resist sand impact.

[0081] In an embodiment, the inside of the connecting plate 2 is provided with two symmetrically arranged arc-shaped racks 66, and the inside of the connecting plate 2 is provided with a servo motor 63. The servo motor 63 is connected to the assistant 6 through a coaxially arranged straight shaft 64. The straight shaft 64 is provided with two symmetrically arranged transmission gears 65. The transmission gears 65 and the arc-shaped racks 66 are both symmetrically arranged with the central axis of the camera 62 as the symmetric point. The bottom of the servo motor 63 is provided with two limiting blocks 631, i.e. limiting sliding blocks. The two limiting blocks 631 are slidingly assembled in the inside of the vehicle body 1.

[0082] In an embodiment, the rotating mechanism of the assistant 6 is composed of a servo motor 63, a straight 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 through bolts, and the output shaft thereof is connected to the straight shaft 64 through a rigid coupling. The straight shaft 64 is processed with involute splines at both ends, and the transmission gear 65 is fixed in the circumferential direction with the straight shaft 64 through the spline pair. The two groups of arc-shaped racks 66 are symmetrically arranged with the axis of the camera 62 as the center of symmetry, and are respectively embedded in the two sides of the annular guide rail in the inner wall of the connecting plate 2. The transmission gear 65 and the arc-shaped rack 66 are meshed to form a gear and rack transmission pair. When the servo motor 63 drives the straight shaft 64 to rotate, the transmission gear 65 rolls along the arc-shaped rack 66, and pushes the assistant 6 to slide along the annular guide rail. The bottom of the servo motor 63 is provided with two groups of limiting blocks 631, which are embedded in the straight guide rail in the inner wall of the connecting plate 2, to prevent the straight shaft 64 from being deviated when subjected to radial force.

[0083] In an embodiment, the outer side and the inner wall of the vehicle body 1 are both provided with two symmetrically arranged heat dissipation grilles 5, and at least two symmetrically arranged axial flow fans 51 are arranged between the two heat dissipation grilles 5 on the same side.

[0084] In the embodiment, the heat dissipation grating 5 and the axial flow fan 51 jointly form a heat dissipation system. The heat dissipation grating 5 on the outer side of the vehicle body 1 adopts a louver structure, the inclination angle of the blades of which is designed to be 15°, so as to prevent rain from directly splashing into the inside of the connecting plate 2 while ensuring the air intake amount; the heat dissipation grating 5 on the inner wall of the vehicle body 1 is a punched mesh plate with a hole diameter of 2 mm to block foreign matters from entering. The four groups of axial flow fans 51 are arranged in two layers inside the connecting plate 2, the air inlets of the upper two groups of axial flow fans 51 being opposite to the heat dissipation grating 5 on the outer side of the vehicle body 1, and the air outlets of the lower two groups of axial flow fans 51 being towards the heat dissipation grating 5 on the inner wall of the vehicle body 1, so as to form a convection "through draught" effect.

[0085] In the embodiment, when the axial flow fan 51 is running, the external cold air enters the connecting plate 2 through the heat dissipation grating 5 on the outer side, flows through the surfaces of the camera 62, the radar 61 and the rotating motor 4, and then the air carrying heat is discharged through the heat dissipation grating 5 on the inner wall, and the heat dissipation path is optimized by the flow guide rib plate inside the connecting plate 2 to avoid air flow short circuiting.

[0086] Compared with the prior art, the lane merging auxiliary device provided by the embodiment of the application is provided with an auxiliary device, an annular guide rail, a rotating box and a rotating motor, the auxiliary device rotates along the annular guide rail, the integrated camera and radar monitor the road conditions on the rear side of the opposite side in the horizontal plane, the rotating box adjusts the pitch angle of the infrared sensor by being driven by the motor to form a fan-shaped scanning area, and the two cooperate to significantly improve the detection range and blind area coverage rate and optimize the use efficiency of the lane merging auxiliary system.

[0087] The lane merging auxiliary device provided by the embodiment of the application is provided with a connecting plate, a camera and other structures, the spring and the damper cooperate to suppress the influence of driving vibration on the sensor, and the data acquisition stability is ensured; the field of view angles of the camera and the radar partially overlap, the dynamic scanning of the infrared sensor is combined, a multi-modal perception network is constructed, and the obstacle recognition accuracy and system reliability in a complex traffic scene are significantly improved.

[0088] According to the second aspect of the embodiment of the application, a vehicle is provided, the vehicle comprising the lane merging auxiliary device as above, and the vehicle can be a passenger car, for example, and also has the beneficial effects as above, which will not be repeated here.

[0089] The above is only the preferred embodiment of the application, and does not limit the protection scope of the application, and any equivalent structural transformation made according to the innovative concept of the application and the contents of the specification and drawings, or direct / indirect application in other related technical fields is included in the protection scope of the application.

Claims

1. A paralleling aid, characterized in that The lane-joining auxiliary device is used for a vehicle, and comprises: a connecting plate configured to be connected to the vehicle; an auxiliary device comprising a main body, a camera and a plurality of radars, the camera and the plurality of radars being arranged on the main body, the radars and the camera being arranged such that the radars and the camera partially overlap in a field of view angle; wherein the auxiliary device has an extending direction, the connecting plate has a first guide slot and a second guide slot opposite to each other in the extending direction, and two ends of the auxiliary device in the extending direction are arranged in the first guide slot and the second guide slot respectively, so that the auxiliary device can move along the first guide slot and the second guide slot; the connecting plate has a first plate portion and a second plate portion perpendicular to each other, and further has a transition plate portion connected between the first plate portion and the second plate portion; wherein the first guide slot and the second guide slot are both located on the transition plate portion, and two ends of the first guide slot extend to the first plate portion and the second plate portion respectively, and two ends of the second guide slot extend to the first plate portion and the second plate portion respectively.

2. The joining aid according to claim 1, characterized in that the connecting plate has a first plate portion and a second plate portion perpendicular to each other, and further has a transition plate portion connected between the first plate portion and the second plate portion; wherein the first guide slot and the second guide slot are both located on the transition plate portion, the lane-joining auxiliary device further comprises two rotating boxes, the two rotating boxes are arranged on the first plate portion and the second plate portion respectively, and each of the rotating boxes has a rotating portion and an infrared sensor arranged on the rotating portion, and the rotating portion can rotate around an axis extending in the extending direction.

3. The threading aid of claim 1, wherein, the plurality of radars are symmetrical about a symmetry axis perpendicular to the extending direction and passing through the camera.

4. The joining aid according to claim 1, characterized in that the lane-joining auxiliary device comprises a plurality of connecting members arranged on the connecting plate and detachably connecting the connecting plate to the vehicle; wherein the lane-joining auxiliary device further comprises an auxiliary plate and a plurality of elastic members, the plurality of connecting members are arranged through the auxiliary plate, the plurality of elastic members are arranged one by one corresponding to the plurality of connecting members, the elastic members are arranged between the auxiliary plate and the connecting plate, and abut against the auxiliary plate and the connecting plate respectively.

5. The lane-joining auxiliary device according to claim 4, wherein the lane-joining auxiliary device further comprises a buffer member arranged between the connecting plate and the auxiliary plate, and configured to buffer impact between the connecting plate and the auxiliary plate.

6. The threading aid of claim 1, wherein, the connecting plate has a first plate portion and a second plate portion perpendicular to each other, and further has a transition plate portion connected between the first plate portion and the second plate portion; wherein the first guide slot and the second guide slot are both located on the transition plate portion, The first plate part has a first installation cavity, and the second plate part has a second installation cavity. The splicing auxiliary device further comprises a plurality of first fans and a plurality of second fans. The plurality of first fans are arranged in the first installation cavity, and the plurality of second fans are arranged in the second installation cavity. The first installation cavity has a first flow guide through hole penetrating through the first plate part, and the second installation cavity has a second flow guide through hole penetrating through the second plate part.

7. A threading aid according to claim 6, characterised in that The connecting plate further has a first heat dissipation grille and a second heat dissipation grille. The first heat dissipation grille is arranged on the outer side of the first installation cavity, and the second heat dissipation grille is arranged on the outer side of the second installation cavity.

8. The joining aid according to any one of claims 1 to 7, characterized in that The first guide groove and the second guide groove are both arc-shaped grooves.

9. A vehicle characterized by comprising: The vehicle comprises the splicing auxiliary device as claimed in any one of claims 1 to 8.

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