Blind zone detection method, device and equipment applied to vehicle, medium and product

Abstract

The embodiment of the invention provides a blind area detection method and device applied to a vehicle, equipment, a medium and a product, and the method comprises the steps: obtaining the obstacle position information of an obstacle and the vehicle parking data of a target vehicle when it is detected that the distance between the obstacle and a detection blind area of a target radar meets a preset condition in a parking process; according to the vehicle parking data, the obstacle position information and a vehicle dynamics model, real-time position information of the obstacle in the parking process of the target vehicle is determined; and displaying the real-time position information of the obstacle. According to the technical scheme, the vehicle parking data, the obstacle position information and the vehicle dynamics model are fused, the real-time position of the obstacle in the parking process of the target vehicle is updated, continuous tracking can be conducted even if the obstacle enters or approaches a radar blind area, the blind area detection performance is remarkably improved, and the detection efficiency is improved. Reliable safety guarantee is provided for parking assistance and other scenes, the parking efficiency and success rate are improved, and the effect of improving the user experience is achieved.

Description

TECHNICAL FIELD

[0001] Embodiments of the present disclosure relate to the technical field of intelligent driving, and in particular to a blind area detection method and device applied to a vehicle, equipment, a medium and a product. BACKGROUND

[0002] With the rapid development of intelligent driving technology, radar, as an important sensor, plays an important role in parking assistance through its high-precision detection. However, due to its large beam angle and short detection distance, radar has the problem of poor directivity and difficulty in accurately positioning obstacles.

[0003] Currently, the main method for detecting obstacles in the blind area of a vehicle is to increase the number of radars to form multiple virtual defense zones to reduce the physical blind area. However, this technology of increasing the number of radars has the problems of high cost and blind area missed detection. SUMMARY

[0004] Embodiments of the present disclosure provide a blind area detection method, device, equipment, medium and product applied to a vehicle to continuously track obstacles even if they enter or approach the radar blind area, significantly improve the blind area detection performance, provide reliable safety protection for parking assistance and other scenarios, improve parking efficiency and success rate, and achieve the effect of improving user experience.

[0005] In a first aspect, embodiments of the present disclosure provide a blind area detection method applied to a vehicle, the method comprising:

[0006] In the parking process, when it is detected that the distance between an obstacle and the detection blind area of a target radar meets a preset condition, obtaining obstacle position information of the obstacle and vehicle parking data of a target vehicle;

[0007] According to the vehicle parking data, the obstacle position information and a vehicle dynamics model, determining real-time position information of the obstacle in the parking process of the target vehicle;

[0008] Displaying the real-time position information of the obstacle.

[0009] In a second aspect, embodiments of the present disclosure also provide a blind area detection device applied to a vehicle, the device comprising:

[0010] A data acquisition module configured to, in the parking process, acquire obstacle position information of an obstacle and vehicle parking data of a target vehicle when it is detected that the distance between the obstacle and the detection blind area of a target radar meets a preset condition;

[0011] determining real-time position information of the target vehicle in the parking process of the target vehicle according to the vehicle parking data, the obstacle position information and a vehicle dynamics model;

[0012] displaying the real-time position information of the obstacle.

[0013] In a third aspect, an electronic device is provided, and the electronic device includes:

[0014] one or more processors;

[0015] a memory device storing one or more programs,

[0016] When the one or more programs are executed by the one or more processors, the one or more processors implement the method for blind area detection in a vehicle according to any of the embodiments of the present application.

[0017] In a fourth aspect, a storage medium containing computer executable instructions is provided, and the computer executable instructions, when executed by a computer processor, are used to perform the method for blind area detection in a vehicle according to any of the embodiments of the present application.

[0018] In a fifth aspect, a computer program product is provided, and the computer program product includes a computer program, and the computer program, when executed by a processor, implements the method for blind area detection in a vehicle according to any of the embodiments of the present application.

[0019] The technical solution of the embodiments of the present disclosure is applied in a parking assistance scenario. In the parking process, when it is detected that the distance between the obstacle and the detection blind area of the target radar meets a preset condition, the obstacle position information of the obstacle and the vehicle parking data of the target vehicle are obtained. Then, the real-time position information of the target vehicle in the parking process of the target vehicle is determined according to the vehicle parking data, the obstacle position information and a vehicle dynamics model. Finally, the real-time position information of the obstacle is displayed, which solves the problems of high cost and blind area missing detection in the prior art when a plurality of virtual defense zones are formed by increasing the number of radars to reduce the physical blind area. The embodiments of the present disclosure realize the fusion of the vehicle parking data, the obstacle position information and the vehicle dynamics model, update the real-time position of the target vehicle in the parking process of the target vehicle, continuously track the obstacle even when the obstacle enters or approaches the radar blind area, significantly improve the blind area detection performance, provide reliable safety protection for the parking assistance scenario, improve the parking efficiency and success rate, and achieve the effect of improving the user experience. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present application, the following briefly describes the drawings needed in the embodiments. Obviously, the described drawings are only a part of the drawings of the present application, and not all the drawings. For those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0021] Figure 1 is a flowchart of a blind area detection method applied to a vehicle provided by an embodiment of the present disclosure;

[0022] Figure 2 is a flowchart of a blind area detection method applied to a vehicle provided by an embodiment of the present disclosure;

[0023] Figure 3 is a structural diagram of a blind area detection device applied to a vehicle provided by an embodiment of the present disclosure;

[0024] Figure 4 is a structural diagram of an electronic device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0025] The present application will be further described below in conjunction with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, and not to limit the present application. In addition, it should be noted that, in order to facilitate the description, only the parts related to the present application are shown in the drawings, not all the structures.

[0026] Before introducing the technical solutions provided by the embodiments of the present disclosure, the application scenarios can be exemplarily described. The technical solutions provided by the embodiments of the present disclosure can be applied in the scenario of parking assistance. Based on the technical solutions of the embodiments of the present disclosure, the vehicle parking data, the obstacle position information and the vehicle dynamics model are fused, the real-time position of the target vehicle in the parking process is updated, the obstacle is continuously tracked even if the obstacle enters or approaches the radar blind area, the blind area detection performance is significantly improved, the reliable safety guarantee is provided for the parking assistance and other scenarios, the parking efficiency and success rate are improved, and the user experience is improved.

[0027] Embodiment one

[0028] Figure 1 is a flowchart of a blind area detection method applied to a vehicle provided by an embodiment of the present disclosure, and the present disclosure is applicable to the situation of parking assistance. The method can be executed by a blind area detection device applied to a vehicle. The device can be realized in the form of software and / or hardware. The hardware can be an electronic device of a mobile terminal. The electronic device can execute the blind area detection method applied to a vehicle provided by the present technical solution.

[0029] As Figure 1 shown, the method comprises:

[0030] S110, in the parking process, when the distance between the obstacle and the detection blind area of the target radar meets the preset condition, obtaining the obstacle position information of the obstacle and the vehicle parking data of the target vehicle.

[0031] Wherein, the obstacle refers to a static target or a dynamic target that may interfere or collide with the target vehicle in the parking path or its safety boundary, and needs to be perceived and avoided. The obstacle can be a ground lock, a column or a pedestrian, etc. The target radar is a radar sensor for obstacle measurement data. The target radar can be an ultrasonic radar or a millimeter wave radar, and the target radar can be installed on the front bumper, rear bumper or side of the target vehicle, etc. The target radar is fixedly installed on the target vehicle, and the target radar is part of the target vehicle perception system, and the target vehicle can install multiple radars.

[0032] It should be noted that because the radar has a minimum range, there is a near-field blind area. Because of the installation position of the radar or the shielding of the target vehicle body structure, there is an angle blind area. Because of the terrain or the attitude of the target vehicle, there is a temporary blind area. The detection blind area distance refers to the nearest distance at which the target radar can reliably detect the obstacle. When the detection blind area distance is less than the preset threshold, it can be considered that the obstacle enters the blind area, that is, it is considered that the preset condition is met.

[0033] It should be noted that the obstacle position information refers to the position coordinates of the obstacle in the vehicle coordinate system. The vehicle parking data refers to the target vehicle state data, target vehicle parameter data, target vehicle trajectory data or target vehicle odometer data, etc. in the target vehicle parking process.

[0034] Optionally, the distance difference between the first distance of the detected obstacle and the detection distance threshold of the detection blind area of the target radar is calculated; when the distance difference is less than a preset distance difference threshold, it is determined that the preset condition is met, and the blind area detection mode is triggered.

[0035] Wherein, the blind area detection mode is used to determine the real-time position of the target vehicle in the detection blind area.

[0036] It should be noted that the first distance refers to the measured distance of the target radar to the obstacle. The first distance can be the radial distance between the target radar and the obstacle. The detection distance threshold of the detection blind area refers to the distance from the nearest boundary of the reliable detection area of the target radar to the radar coordinate origin. The detection distance threshold of the detection blind area is usually close to the minimum range of the radar and can vary with the angle. The distance difference refers to the difference between the first distance and the detection distance threshold. The preset distance difference threshold refers to the safety margin for triggering the blind area detection mode in advance. The preset distance difference threshold can be on the order of tens of centimeters and can be determined according to the type of radar and the parking speed. When the distance difference is less than the preset distance difference threshold, the obstacle has reached or entered the blind area, and the blind area detection mode is triggered at this time.

[0037] It should also be noted that when the target radar is an ultrasonic radar, the first distance can be measured according to the ultrasonic pulse sent by the target radar and the round-trip time of the echo . The first distance can be:

[0038] ;

[0039] wherein, refers to the first distance. , refers to the current temperature. According to the current temperature and the time, the first distance can be calculated.

[0040] In this embodiment, the obstacle position information of the obstacle in the target coordinate system is obtained; the vehicle wheel speed pulse signal, the steering angle and the lateral acceleration data of the target vehicle are obtained.

[0041] wherein, the obstacle position information comprises three-dimensional coordinate information of the obstacle.

[0042] It should be noted that the target coordinate system refers to a reference coordinate system uniformly used for calculation, used to express the position information of the obstacle and to be fused with the vehicle parking data. The target coordinate system does not have a unique meaning, and the target coordinate system can be the vehicle coordinate system. When the target coordinate system is the vehicle coordinate system, the X-axis refers to the front of the target vehicle, the Y-axis refers to the left side of the target vehicle, and the Z-axis refers to the upper side of the target vehicle. The origin can be the center of the rear axle, the geometric center or the center of mass of the target vehicle.

[0043] It should be noted that the three-dimensional coordinate information of the obstacle can be measured by the target radar in its own coordinate system and then converted to the target coordinate system through external parameter calibration. For example, the three-dimensional coordinate information of the obstacle can be determined by the distance, azimuth and pitch of the radar. The three-dimensional coordinate information of the obstacle can also be determined by the point cloud of the laser radar.

[0044] It should be further noted that the vehicle wheel speed pulse signal refers to the pulse count or frequency output from a wheel speed sensor, such as a Hall sensor, which can reflect the angular velocity of the wheel. Each revolution corresponds to a fixed number of pulses. The steering angle represents the angular state of the steering system, which refers to the front wheel road angle. The steering angle can be measured by a steering angle sensor. The lateral acceleration data refers to the angular velocity of the target vehicle on the Y axis, which is usually measured by an IMU accelerometer.

[0045] Specifically, in the process of parking using parking assistance, after obtaining the distance from the target vehicle to the obstacle, when the distance from the obstacle to the target radar meets the preset condition, the three-dimensional coordinate information of the obstacle in the vehicle coordinate system is obtained, and the vehicle wheel speed pulse signal, the steering angle, and the lateral acceleration data of the target vehicle are obtained.

[0046] S120, according to the vehicle parking data, the obstacle position information, and the vehicle dynamics model, determining the real-time position information of the obstacle in the parking process of the target vehicle.

[0047] Among them, the vehicle dynamics model refers to a mathematical model used to describe and predict the change of the motion state of the target vehicle with time. The real-time position information refers to the estimation result of the current time obstacle position in the vehicle coordinate system. The real-time position information at least includes the spatial coordinates and time stamp of the obstacle.

[0048] Specifically, in the parking process of the target vehicle, after obtaining the three-dimensional coordinate information of the obstacle and the vehicle wheel speed pulse signal, the steering angle, and the lateral acceleration data of the target vehicle, the obstacle position information and the vehicle parking data can be input into the vehicle dynamics model, and the real-time position information of the obstacle can be determined according to the vehicle dynamics model.

[0049] S130, displaying the real-time position information of the obstacle.

[0050] Specifically, after determining the real-time position information of the obstacle in the parking process of the target vehicle, the real-time position information of the obstacle can be visually displayed to the driver through the vehicle display screen. For example, the obstacle can be marked in the form of an icon or a warning box in the parking image, and the position of the obstacle can be updated in real time.

[0051] The technical scheme of the embodiment of the present disclosure is applied to a parking assistance scene, and in a parking process, when it is detected that a distance between an obstacle and a detection blind area of a target radar meets a preset condition, obstacle position information of the obstacle and vehicle parking data of a target vehicle are acquired. Then, real-time position information of the obstacle in the parking process of the target vehicle is determined according to the vehicle parking data, the obstacle position information and a vehicle dynamics model. Finally, the real-time position information of the obstacle is displayed, and the problems of high cost and blind area missing detection existing in the prior art when a number of virtual defense zones are formed by increasing the number of radars to reduce the physical blind area are solved. The embodiment of the present disclosure realizes fusion of the vehicle parking data, the obstacle position information and the vehicle dynamics model, updates the real-time position of the obstacle in the parking process of the target vehicle, can continuously track the obstacle even when the obstacle enters or approaches the radar blind area, significantly improves the blind area detection performance, provides reliable safety protection for scenes such as parking assistance, improves the parking efficiency and success rate, and achieves the effect of improving the user experience.

[0052] Embodiment two

[0053] Figure 2 The flowchart of the blind area detection method applied to the vehicle provided in the embodiment of the present disclosure is based on the foregoing embodiment, and the determination of the real-time position information of the obstacle in the parking process of the target vehicle is described in detail, and the specific implementation can be referred to the technical scheme of the present embodiment. The same or corresponding technical terms as the above embodiments are not described here.

[0054] As shown in Figure 2 , the method specifically includes the following steps:

[0055] S210, in a parking process, when it is detected that a distance between an obstacle and a detection blind area of a target radar meets a preset condition, obstacle position information of the obstacle and vehicle parking data of a target vehicle are acquired.

[0056] S220, the vehicle parking data is analyzed and processed according to a vehicle dynamics model to determine vehicle deviation information.

[0057] The vehicle deviation information refers to the displacement and attitude change of the target vehicle in space within a period of time. The vehicle deviation information mainly includes the position change and heading angle change of the target vehicle.

[0058] It should be noted that after obtaining the vehicle parking data, the vehicle wheel speed pulse signal of the target vehicle can be used to estimate the moving distance of the target vehicle. The steering angle of the target vehicle can be used to estimate the driving direction of the target vehicle. The lateral acceleration of the target vehicle can be used to assist in judging the lateral dynamics of the target vehicle. The wheel speed pulse is installed on the wheel by the wheel speed sensor, and the pulse signal generated by detecting the rotation of the wheel. Every turn, the sensor will output a fixed number of pulses, denoted as After obtaining the vehicle wheel speed pulse signal of the target vehicle, it is determined that the wheel generates pulses in the time interval The number of turns of the wheel is:

[0059] Number of turns= ;

[0060] The distance moved by the wheel in one turn is the tire circumference , ; wherein The total distance is:

[0061] ;

[0062] The speed is the driving distance per unit time:

[0063] ;

[0064] It should be noted that when calculating the heading angle of the target vehicle, the wheelbase and the turning radius of the target vehicle are obtained. The turning radius ; according to the wheelbase and the turning radius, the heading angle of the target vehicle can be calculated.

[0065] It should also be noted that the change in position of the target vehicle is:

[0066] ; ;

[0067] Optionally, after inputting the multi-source information such as the vehicle wheel speed pulse signal, the steering angle and the lateral acceleration data of the target vehicle into the extended Kalman filter, more accurate vehicle deviation information can be obtained.

[0068] Specifically, according to the obtained vehicle wheel speed pulse signal of the target vehicle, the driving speed of the target vehicle can be calculated. According to the wheelbase and the steering angle of the target vehicle, the heading angle of the target vehicle can be calculated. According to the driving speed and the heading angle, the position change of the target vehicle can be calculated, that is, the vehicle offset information can be determined.

[0069] S230, according to the vehicle offset information and the obstacle data, the real-time position information corresponding to the obstacle at the current time is determined.

[0070] It should be noted that when the obstacle is detected by the radar for the last time, the coordinates of the obstacle relative to the target vehicle are recorded . The target vehicle moves in , and the heading angle changes by . The formula for calculating the real-time position information corresponding to the obstacle at the current time is:

[0071] ;

[0072] Among them, is a rotation matrix. By bringing the heading angle change, the coordinates of the obstacle when detected by the radar for the last time, and the position change of the target vehicle into the formula, the real-time position information corresponding to the obstacle at the current time .

[0073] Specifically, the coordinates of the obstacle when last visible, that is, the obstacle data, are recorded. According to the obstacle data and the vehicle offset information, the real-time position information corresponding to the obstacle at the current time is calculated.

[0074] S240, the real-time position information of the obstacle is displayed.

[0075] Optionally, when the detection distance of the obstacle based on the ultrasonic sensor is detected, according to the detection distance corresponding to the current time and the real-time position information, error information is determined; when the error information is less than a preset error threshold, it is determined that the real-time position information is accurately predicted.

[0076] It should be noted that the detection distance refers to the distance of the obstacle directly measured by the radar, that is, the ultrasonic sensor, when the obstacle reappears in the detection range of the radar. The error information refers to the absolute value of the difference between the detection distance and the real-time position information. By comparing the error information with the preset error threshold, the reliability of the position prediction of the obstacle in the blind area can be ensured, and the parking safety can be improved.

[0077] In this embodiment, when it is determined based on the real-time position information that the obstacle is less than a preset dangerous distance within a preset time length, a brake instruction is triggered to control the target vehicle to stop parking based on the brake instruction.

[0078] It should be noted that the system can continuously calculate the real-time position of the obstacle relative to the target vehicle through the vehicle parking data, the obstacle position information and the vehicle dynamics model. After setting the preset time length, the system can focus on the safety situation in the future period of time and predict the risk in advance. The preset dangerous distance refers to the set safety threshold, which can be 0.3 meters or 0.5 meters, etc. When the obstacle is less than the preset dangerous distance, it is considered that the target vehicle has a risk of collision with the obstacle. Once it is determined that the obstacle is less than the preset dangerous distance within the preset time length, the system immediately issues a braking instruction to control the braking system of the target vehicle to perform an emergency braking operation. After the braking instruction takes effect, the target vehicle will stop the parking action to avoid collision caused by continuous movement.

[0079] The technical scheme of the embodiment of the present disclosure, in the parking process, when it is detected that the distance between the obstacle and the detection blind area of the target radar meets the preset condition, the obstacle position information of the obstacle and the vehicle parking data of the target vehicle are obtained. Then, the vehicle parking data is analyzed and processed according to the vehicle dynamics model to determine the vehicle deviation information. Further, according to the vehicle deviation information and the obstacle data, the real-time position information of the obstacle corresponding to the current time is determined. Finally, the real-time position information of the obstacle is displayed, which can effectively avoid the collision risk caused by the blind area and greatly improve the safety of the parking process. And accurately calculating the real-time position of the obstacle can avoid the detection interruption caused by the invisible area of the sensor and improve the continuity and reliability of the obstacle tracking.

[0080] Embodiment three

[0081] Figure 3 is a structural schematic diagram of a blind area detection device applied in a vehicle provided by the embodiment of the present disclosure, as Figure 3 shown, the device comprises a data acquisition module 310, a real-time position information determination module 320 and an information display module 330.

[0082] The data acquisition module is used for, in the parking process, when it is detected that the distance between the obstacle and the detection blind area of the target radar meets the preset condition, acquiring the obstacle position information of the obstacle and the vehicle parking data of the target vehicle; the real-time position information determination module is used for determining the real-time position information of the obstacle of the target vehicle in the parking process according to the vehicle parking data, the obstacle position information and the vehicle dynamics model; and the information display module is used for displaying the real-time position information of the obstacle.

[0083] The technical scheme of the embodiment of the present disclosure is applied to a parking assistance scene. In a parking process, when it is detected that a distance between an obstacle and a detection blind area of a target radar meets a preset condition, obstacle position information of the obstacle and vehicle parking data of a target vehicle are acquired. Then, real-time position information of the obstacle in the parking process of the target vehicle is determined according to the vehicle parking data, the obstacle position information and a vehicle dynamics model. Finally, the real-time position information of the obstacle is displayed, thereby solving the problems of high cost and blind area missing detection in the prior art when a plurality of virtual defense zones are formed by increasing the number of radars to reduce the physical blind area. The embodiment of the present disclosure realizes fusion of the vehicle parking data, the obstacle position information and the vehicle dynamics model, updates the real-time position of the obstacle in the parking process of the target vehicle, continuously tracks the obstacle even when the obstacle enters or approaches the radar blind area, significantly improves the blind area detection performance, provides reliable safety protection for the parking assistance scene and the like, improves the parking efficiency and success rate, and achieves the effect of improving the user experience.

[0084] On the basis of each of the above technical solutions, whether the distance between the obstacle and the detection blind area of the target radar meets the preset condition comprises: calculating a distance difference value between a first distance of the detected obstacle and a detection distance threshold of the detection blind area of the target radar; when the distance difference value is less than a preset distance difference threshold, it is determined that the preset condition is met, and a blind area detection mode is triggered; wherein the blind area detection mode is used to determine the real-time position of the target vehicle in the detection blind area.

[0085] On the basis of each of the above technical solutions, the data acquisition module 310 comprises an obstacle position information acquisition submodule and a target vehicle information acquisition submodule.

[0086] The obstacle position information acquisition submodule is configured to acquire obstacle position information of the obstacle in a target coordinate system, wherein the obstacle position information comprises obstacle three-dimensional coordinate information.

[0087] The target vehicle information acquisition submodule is configured to acquire vehicle wheel speed pulse signals, a steering angle and lateral acceleration data of the target vehicle.

[0088] On the basis of each of the above technical solutions, the real-time position information determination module 320 comprises a vehicle offset information determination submodule and a real-time position information calculation submodule.

[0089] The vehicle offset information determination submodule is configured to analyze and process the vehicle parking data according to the vehicle dynamics model to determine vehicle offset information.

[0090] The real-time position information calculation submodule is configured to determine real-time position information corresponding to the obstacle at a current time according to the vehicle offset information and the obstacle data.

[0091] On the basis of each of the above technical solutions, the device further comprises an error information determination module configured to determine error information according to the detection distance corresponding to the current time and the real-time position information when the detection distance of the obstacle is detected based on the ultrasonic sensor; and determine that the real-time position information is accurate when the error information is less than a preset error threshold.

[0092] On the basis of each of the above technical solutions, the device further comprises a brake instruction control module configured to trigger a brake instruction to control the target vehicle to stop parking based on the brake instruction when it is determined based on the real-time position information that the obstacle is less than a preset dangerous distance within a preset time length.

[0093] The blind area detection device applied in a vehicle provided in the embodiments of the present disclosure can execute the blind area detection method applied in a vehicle provided in any of the embodiments of the present disclosure, and has the function modules and beneficial effects corresponding to the execution method.

[0094] It is worth noting that each unit and module included in the above device is only divided according to the function logic, but is not limited to the above division, as long as the corresponding function can be realized; in addition, the specific name of each functional unit is only for easy mutual distinction, and does not limit the protection scope of the embodiments of the present disclosure.

[0095] Embodiment Four

[0096] Figure 4 is a structural schematic diagram of an electronic device provided by an embodiment of the present disclosure. Hereinafter, the Figure 4 , which shows a structural schematic diagram of an electronic device (for example, a terminal device or a server in Figure 4 500) suitable for implementing the embodiments of the present disclosure. The terminal device in the embodiments of the present disclosure can include, but is not limited to, a mobile terminal such as a mobile phone, a notebook computer, a digital broadcast receiver, a PDA (Personal Digital Assistant), a PAD (Tablet Personal Computer), a PMP (Portable Multimedia Player), a vehicle terminal (for example, a vehicle navigation terminal), and the like. Figure 4 The electronic device shown is only an example, and should not bring any limitation to the functions and use range of the embodiments of the present disclosure.

[0097] As Figure 4As shown, the electronic device 500 can include a processing device (e.g., a central processor, a graphics processor, etc.) 501 that can perform various appropriate actions and processes according to programs stored in a read only memory (ROM) 502 or loaded from a storage device 508 into a random access memory (RAM) 503. Various programs and data required for the operation of the electronic device 500 are also stored in the RAM 503. The processing device 501, the ROM 502, and the RAM 503 are connected to each other through a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0098] Generally, the following devices can be connected to the I / O interface 505: input devices 506 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; output devices 507 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 508 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 509. The communication devices 509 can allow the electronic device 500 to communicate wirelessly or wired with other devices to exchange data. Although Figure 4 The electronic device 500 is shown with various devices, but it should be understood that not all of the shown devices are required to be implemented or present. More or fewer devices can alternatively be implemented or present.

[0099] In particular, the processes described above with reference to the flowcharts can be implemented as a computer software program according to embodiments of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program carried on a non-transitory computer readable medium, the computer program containing program code for performing the methods illustrated by the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network through the communication devices 509, or installed from the storage devices 508, or installed from the ROM 502. When the computer program is executed by the processing device 501, the above-mentioned functions defined in the methods of embodiments of the present disclosure are performed.

[0100] The names of the messages or information exchanged between the plurality of devices in the embodiments of the present disclosure are only for illustrative purposes, and are not intended to limit the scope of the messages or information.

[0101] The electronic device provided by the embodiments of the present disclosure and the blind area detection method applied to the vehicle provided by the above embodiments belong to the same inventive concept, and the technical details not described in detail in the present embodiments can be referred to the above embodiments, and the present embodiments have the same beneficial effects as the above embodiments.

[0102] Embodiment Five

[0103] The embodiment of the present disclosure provides a computer storage medium, which stores a computer program, and the computer program is executed by a processor to implement the blind area detection method applied to a vehicle.

[0104] It should be noted that the computer readable medium of the present disclosure can be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium may, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination thereof. More specific examples of the computer readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, the computer readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or apparatus. In the present disclosure, the computer readable signal medium can include a data signal carried in a baseband or as a part of a carrier wave, which carries computer readable program code. Such a propagated data signal can take various forms, including but not limited to an electromagnetic signal, an optical signal or any suitable combination thereof. The computer readable signal medium can also be any computer readable medium other than the computer readable storage medium, which can send, propagate or transmit a program for use by or in conjunction with an instruction execution system, device or apparatus. The program code contained in the computer readable medium can be transmitted by any suitable medium, including but not limited to a wire, a cable, an RF (radio frequency) or the like, or any suitable combination thereof.

[0105] In some embodiments, the server can communicate using any currently known or future developed network protocol, such as HTTP (HyperText Transfer Protocol), and can be interconnected with digital data communication (e.g., a communication network) of any form or medium. Examples of communication networks include local area networks ("LAN"), wide area networks ("WAN"), internetworks (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed networks.

[0106] The above computer readable medium can be included in the above electronic device; or can exist separately without being assembled into the electronic device.

[0107] The computer readable medium described above carries one or more programs, which when executed by the electronic device, cause the electronic device to:

[0108] In the parking process, when it is detected that a distance between an obstacle and a detection blind area of a target radar meets a preset condition, obstacle position information of the obstacle and vehicle parking data of a target vehicle are acquired;

[0109] According to the vehicle parking data, the obstacle position information, and a vehicle dynamics model, real-time position information of the obstacle in the parking process of the target vehicle is determined;

[0110] The real-time position information of the obstacle is displayed.

[0111] Computer program code for carrying out operations of the present disclosure can be written in any of one or more programming languages or combinations of languages including object or visual programming languages specifically, assembly language, C, C++, Java, Visual Basic, or the like. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0112] The flow diagrams and the block diagrams in the drawings are illustrations of architectures, functionalities, and operations of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flow diagrams or block diagrams can represent a module, a procedure, or a part of code, which comprises one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in a different order than that noted in the figures. For example, two blocks noted in succession can in fact be executed substantially concurrently or in the opposite order, depending on the functionality involved. It should also be noted that each block in the block diagrams and / or flow diagrams, and combinations of blocks in the block diagrams and / or flow diagrams, can be implemented by dedicated hardware-based systems that perform the specified functions or operations, or can be implemented by a combination of dedicated hardware-based systems and computer instructions.

[0113] The units described in the embodiments of this disclosure can be implemented in software or hardware. The names of the units are not, in some cases, intended to limit the specific unit.

[0114] The functions described above in this document can be performed at least in part by one or more hardware logic components. For example, exemplary types of hardware logic components that can be used, without limitation, include: field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip (SoCs), complex programmable logic devices (CPLDs), and so on.

[0115] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0116] The above description is merely a preferred embodiment of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features disclosed in this disclosure that have similar functions.

[0117] Furthermore, while the operations are described in a specific order, this should not be construed as requiring these operations to be performed in the specific order shown or in a sequential order. In certain environments, multitasking and parallel processing may be advantageous. Similarly, while several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of this disclosure. Certain features described in the context of individual embodiments may also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented individually or in any suitable sub-combination in multiple embodiments.

[0118] Although the subject matter has been described in language specific to structural features and / or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.

Claims

1. A blind spot detection method applied in vehicles, characterized in that, When applied to parking assistance scenarios, the method includes: During the parking process, when the distance between the obstacle and the target radar's blind zone meets the preset conditions, the obstacle's position information and the target vehicle's parking data are acquired. Based on the vehicle parking data, the obstacle location information, and the vehicle dynamics model, the real-time location information of the obstacle during the parking process of the target vehicle is determined; Display the real-time location information of the obstacle.

2. The method according to claim 1, characterized in that, Whether the distance between the obstacle and the target radar's detection blind zone meets preset conditions, including: Calculate the distance difference between the first distance of the detected obstacle and the detection distance threshold of the target radar's blind zone; When the distance difference is less than a preset distance difference threshold, the preset condition is determined to be met, and the blind spot detection mode is activated. The blind spot detection mode is used to determine the real-time position of the target vehicle in the detection blind spot.

3. The method according to claim 1, characterized in that, The acquisition of obstacle location information and target vehicle parking data includes: Obtain the obstacle's position information in the target coordinate system, wherein the obstacle's position information includes the obstacle's three-dimensional coordinate information; The vehicle wheel speed pulse signal, steering angle, and lateral acceleration data of the target vehicle are acquired.

4. The method according to claim 1, characterized in that, The step of determining the real-time position information of the obstacle during the parking process of the target vehicle based on the vehicle parking data, the obstacle data, and the vehicle dynamics model includes: The vehicle parking data is analyzed and processed based on the vehicle dynamics model to determine vehicle offset information. Based on the vehicle offset information and the obstacle data, the real-time location information of the obstacle at the current moment is determined.

5. The method according to claim 1, characterized in that, The method further includes: When the detection distance of the obstacle is detected based on the ultrasonic sensor, error information is determined according to the detection distance at the current moment and the real-time position information; When the error information is less than a preset error threshold, the real-time location information is determined to be accurate.

6. The method according to claim 1, characterized in that, The method further includes: When the obstacle is determined to be less than a preset danger distance within a preset time period based on real-time location information, a braking command is triggered to control the target vehicle to stop parking based on the braking command.

7. A blind spot detection device for use in vehicles, characterized in that, include: The data acquisition module is used to acquire obstacle position information and vehicle parking data of the target vehicle when the distance between the obstacle and the target radar detection blind zone meets the preset conditions during the parking process. The real-time location information determination module is used to determine the real-time location information of the obstacle during the parking process of the target vehicle based on the vehicle parking data, the obstacle location information, and the vehicle dynamics model. The information display module is used to display the real-time location information of the obstacle.

8. An electronic device, characterized in that, The electronic device includes: One or more processors; Storage device for storing one or more programs. When one or more programs are executed by one or more processors, the one or more processors implement the blind spot detection method for use in a vehicle as described in any one of claims 1-6.

9. A storage medium containing computer-executable instructions, characterized in that, The computer-executable instructions, when executed by a computer processor, are used to perform the blind spot detection method applied to a vehicle as described in any one of claims 1-6.

10. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the blind spot detection method for vehicles as described in any one of claims 1-6.

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