Methods for assessing safe driving space in vehicles and driver assistance systems

Abstract

This application relates to a method for assessing the safe driving space of a vehicle (1) in four-wheel steering mode, a method for assessing the safe driving space of a vehicle in four-wheel steering mode, a method for assessing the safe driving space of a vehicle in crabbing mode, an auxiliary driving system, a vehicle including the auxiliary driving system according to this application, and a computer program product. According to embodiments of this application, risk collision zones are constructed for the vehicle in front-wheel steering mode, four-wheel steering mode, and crabbing mode, respectively. By detecting targets in the intersection area of ​​the constructed risk collision zone and the safety zone around the vehicle body, the collision risk between the vehicle and the target can be assessed. This enables a fast, accurate, and efficient assessment of the vehicle's driving space safety, minimizing the excessive interference to the driver's driving operation caused by false collision risk alarms.

Description

Technical Field

[0001] This application relates to the field of vehicle driver assistance, and in particular to a method for assessing the safe driving space of a vehicle in front-wheel steering mode, a method for assessing the safe driving space of a vehicle in four-wheel steering mode, a method for assessing the safe driving space of a vehicle in crab mode, a driver assistance system, a vehicle including the driver assistance system according to this application, and a computer program product. Background Technology

[0002] Assessing the collision risk of a vehicle's predicted driving path during steering is crucial for vehicle control. This is especially true for vehicles with independent rear-wheel steering, where the steering angles of the front and rear wheels can be adjusted independently, resulting in a highly flexible and variable predicted driving path. Traditional safe driving space assessment methods struggle to evaluate the collision risk between the vehicle and obstacles in the driving environment.

[0003] Therefore, how to assess the safe driving space of vehicles with rear-wheel independent steering has become a technical challenge that needs to be solved. Summary of the Invention

[0004] The purpose of this application is to provide a method for assessing the safe driving space of a vehicle in front-wheel steering mode, a method for assessing the safe driving space of a vehicle in four-wheel steering mode, a method for assessing the safe driving space of a vehicle in crab mode, a driver assistance system, a vehicle including the driver assistance system according to this application, and a computer program product, to at least partially solve the problems in the prior art.

[0005] According to a first aspect of this application, a method for assessing the safe driving space of a vehicle in a front-wheel steering mode is provided, the method comprising: -When the vehicle is turning towards the first side of the vehicle body in front wheel steering mode, the first turning radius R1 and the first center position O1 of the first turning radius R1 can be determined based on the vehicle's front wheel steering angle and wheelbase. - The risk collision area of ​​the vehicle is constructed by the first line segment CE between the outermost front corner point C of the second side of the vehicle opposite to the first side and the first intersection point E, sweeping around the first center position O1 in the direction of vehicle travel. The first intersection point E is the intersection point between the rear axle of the vehicle and the outermost edge of the rear wheel tire on the first side of the vehicle. - If a target is detected in the intersection of the constructed risk collision zone and the pre-defined safety zone around the vehicle, a collision warning signal can be triggered.

[0006] According to an optional embodiment of this application, when the vehicle is turning forward toward the first side of the vehicle body in front-wheel steering mode, the circular area swept by the first line segment CE around the first center position O1 in the forward turning direction of the vehicle can be constructed as the risk collision area of ​​the vehicle.

[0007] According to another optional embodiment of this application, when the vehicle is turning backward toward the first side of the vehicle body in front wheel steering mode, the circular area swept by the first line segment CE around the first center position O1 in the direction of the vehicle's backward turning can be constructed as the vehicle's risk collision area.

[0008] According to a second aspect of this application, a method for assessing the safe driving space of a vehicle in a four-wheel steering mode is provided, the method comprising: -When the vehicle is turning toward the first side of the vehicle body in four-wheel steering mode, the second turning radius R2 and the second center position O2 of the second turning radius R2 can be determined based on the front wheel steering angle, the rear wheel steering angle and the wheelbase, wherein the front wheel steering angle and the rear wheel steering angle of the vehicle are set to be unequal in the four-wheel steering mode. - The risk collision area of ​​the vehicle can be constructed based on the outermost body corner point of the second side of the vehicle opposite to the first side and the second intersection point F, and the circular area swept around the second center position O2 in the direction of vehicle travel, wherein the second intersection point F is the intersection point of the perpendicular line of the second center position O2 with respect to the innermost body of the first side of the vehicle. - If a target is detected in the intersection of the constructed risk collision zone and the pre-defined safety zone around the vehicle, the vehicle's collision warning signal can be triggered.

[0009] According to another optional embodiment of this application, when the vehicle is turning forward towards a first side of the vehicle body, the annular area swept by the third line segment CF between the first outermost body corner point C and the second intersection point F, along the second center position O2, can be constructed as the first risk collision zone of the vehicle. Here, the first outermost body corner point C is a body corner point on the second side of the vehicle opposite to the first side and in the same direction as the vehicle's travel direction. Alternatively, the circular area swept by the fourth line segment O2D between the second outermost body corner point D and the second center position O2, relative to the protruding area of ​​the fifth line segment CD between the first outermost body corner point C and the second outermost body corner point D, can be constructed as the second risk collision zone of the vehicle. Here, the second outermost body corner point D is a body corner point on the second side of the vehicle opposite to the first side and in the opposite direction to the vehicle's travel direction. If a target object is detected in the intersection area of ​​the constructed first and / or second risk collision zones and the pre-defined safety zone around the vehicle body, a collision warning signal can be triggered.

[0010] According to another optional embodiment of this application, when the vehicle is turning backward toward a first side of its body, the annular area swept by the sixth line segment DF between the second outermost body corner point D and the second intersection point F, along the second center position O2 in the direction of vehicle travel, can be constructed as the first risk collision zone of the vehicle. Here, the second outermost body corner point D is a body corner point on the second side of the vehicle body opposite to the first side and in the same direction as the vehicle's travel. Alternatively, the circular area swept by the seventh line segment O2C between the first outermost body corner point C and the second center position O2, relative to the protruding area of ​​the fifth line segment CD between the first outermost body corner point C and the second outermost body corner point D, can be constructed as the second risk collision zone of the vehicle. Here, the first outermost body corner point C is a body corner point on the second side of the vehicle body opposite to the first side and in the opposite direction to the vehicle's travel. If a target object is detected in the intersection area of ​​the constructed first and / or second risk collision zones and the pre-defined safety zone around the vehicle body, a collision warning signal can be triggered.

[0011] According to a third aspect of this application, a method for assessing the safe driving space of a vehicle in crab mode is provided, the method comprising: - When a vehicle travels along a planned crab-like path in crab-like mode, the area swept by the outermost and innermost corner points of the vehicle along the path direction of the crab-like path can be constructed as the risk collision zone of the vehicle, wherein the front wheel steering angle and the rear wheel steering angle of the vehicle are set to be equal in the crab-like mode. - If a target is detected in the intersection of the constructed risk collision zone and the pre-defined safety zone around the vehicle, a collision warning signal can be triggered.

[0012] According to another optional embodiment of this application, when the vehicle is traveling in a crab-like mode along a planned crab-like path towards the side front of the first side of the vehicle body, the area enclosed by the eighth line segment CF extending forward along the path direction of the crab-like path from the first outermost body corner point C of the vehicle and the ninth line segment AE extending forward along the path direction of the crab-like path from the first innermost body corner point A of the vehicle can be constructed as the risk collision zone of the vehicle. Here, the first outermost body corner point C is a body corner point on the second side of the vehicle opposite to the first side and in the same direction as the vehicle's driving direction, and the first innermost body corner point A is a body corner point on the first side of the vehicle and in the opposite direction to the vehicle's driving direction.

[0013] According to another optional embodiment of this application, when the vehicle is traveling in a crab-like mode along a planned crab-like path towards the rear of the first side of the vehicle body, the area enclosed by the tenth line segment CH extending rearward along the path direction of the crab-like path from the first outermost body corner point C of the vehicle and the eleventh line segment AG extending rearward along the path direction of the crab-like path from the first innermost body corner point A of the vehicle can be constructed as the risk collision zone of the vehicle. Here, the first outermost body corner point C is a body corner point on the second side of the vehicle opposite to the first side and in the opposite direction to the vehicle's driving direction, and the first innermost body corner point A is a body corner point on the first side of the vehicle and in the same direction as the vehicle's driving direction.

[0014] According to a fourth aspect of this application, a driver assistance system is provided, which may include the following components: - An environmental detection unit, configured to detect targets in the vehicle's surrounding environment; - A control unit configured to perform the method according to this application.

[0015] According to a fifth aspect of this application, a computer program product, such as a computer-readable program carrier, is provided, comprising or storing computer program instructions that, when executed by a processor, at least assist in implementing the steps of the method described in this application. Attached Figure Description

[0016] The principles, features, and advantages of this application can be better understood by describing it in more detail below with reference to the accompanying drawings. The drawings show: Figure 1 A flowchart illustrating a method for assessing the safe driving space of a vehicle in front-wheel steering mode, according to an exemplary embodiment of this application; Figure 2 A schematic diagram illustrating a driving scenario of a vehicle in front-wheel steering mode according to an exemplary embodiment of this application is shown. Figure 3 A flowchart illustrating a method for assessing the safe driving space of a vehicle in four-wheel steering mode according to an exemplary embodiment of this application is provided. Figure 4 A schematic diagram illustrating a driving scenario of a vehicle in four-wheel steering mode according to an exemplary embodiment of this application is shown. Figure 5 A flowchart illustrating a method for assessing safe driving space of a vehicle in crab mode according to an exemplary embodiment of this application is provided. Figure 6 A schematic diagram illustrating a driving scenario of a vehicle in crab mode according to an exemplary embodiment of this application is shown. Figure 7 A schematic diagram of a vehicle according to an exemplary embodiment of this application is shown. Detailed Implementation

[0017] To make the technical problems to be solved, the technical solutions, and the beneficial technical effects of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and several exemplary embodiments. It should be understood that the specific embodiments described herein are only for explaining this application and are not intended to limit the scope of protection of this application.

[0018] Figure 1 A flowchart illustrating a method for assessing the safe driving space of a vehicle in front-wheel steering mode, according to an exemplary embodiment of this application, is shown. The following exemplary embodiments describe the method according to this application in more detail. The method can be performed by a driver assistance system 10 of vehicle 1.

[0019] like Figure 1As shown, the method may include steps S1 to S3. In step S1, when vehicle 1 is turning towards a first side of the vehicle body in front-wheel steering mode, the first turning radius R1 and the first center position O1 of the first turning radius R1 can be determined based on the front wheel steering angle α and the wheelbase L of vehicle 1. In the front-wheel steering mode of vehicle 1, the rear wheel steering angle of vehicle 1 always remains equal to 0, that is, it remains parallel to the longitudinal axis of vehicle 1, and the steering process of vehicle 1 is completed only by controlling the front wheel steering angle α of vehicle 1. Figure 2 In a schematic diagram illustrating a driving scenario of a vehicle 1 in front-wheel steering mode according to an exemplary embodiment of this application, the vehicle 1 is steering towards the left side of the vehicle body. Based on the front wheel steering angle α and wheelbase L of the vehicle 1, the first turning radius R1 of the vehicle 1 turning to the left can be calculated, for example, by the following formula, and the first center position O1 of the first turning radius R1 can be determined: .

[0020] like Figure 2 As shown, the vehicle body corner points of the vehicle 1 may include the outermost front corner point C and the outermost rear corner point D on the right side of the vehicle body, and the innermost front corner point B and the innermost rear corner point A on the left side of the vehicle body. When the vehicle 1 is turning its front wheels to the left side of the vehicle body, the part of the vehicle 1 closest to the first center position O1 is the first intersection point E between the rear axle of the vehicle 1 and the outermost edge of the rear tire on the first side of the vehicle 1.

[0021] In step S2, the risk collision zone of vehicle 1 can be constructed by the annular area swept around the first center position O1 by the first line segment CE between the outermost front corner point C of the second side opposite to the first side and the first intersection point E, in the direction of travel of vehicle 1. Figure 2 As shown, a first circle is constructed with the first center position O1 as the center and the dashed line segment O1E between the first center position O1 and the first intersection point E as the radius; a second circle can be constructed with the first center position O1 as the center and the dashed line segment O1C between the first center position O1 and the outermost front corner point C of the vehicle body as the radius. The annular region between the first circle and the second circle is the annular region swept by the first line segment CE around the first center position O1, and this annular region is constructed as the risk collision zone of vehicle 1.

[0022] When vehicle 1 is in front-wheel steering mode, facing the first side of the vehicle body (i.e.) Figure 2When the vehicle 1 is turning forward (from the left side), the circular area swept by the first line segment CE around the first center position O1 in the forward turning direction of the vehicle 1 can be constructed as the risk collision area of ​​the vehicle 1; when the vehicle 1 is turning backward towards the first side of the vehicle body in the front wheel steering mode, the circular area swept by the first line segment CE around the first center position O1 in the backward turning direction of the vehicle 1 can be constructed as the risk collision area of ​​the vehicle 1.

[0023] In step S3, if a target object is detected in the intersection area of ​​the constructed risk collision zone and the pre-defined safety zone around the vehicle 1, a collision warning signal for vehicle 1 can be triggered. During the process of vehicle 1 turning forward towards the first side of the vehicle body in front-wheel steering mode, target objects in the surrounding environment of vehicle 1 can be detected by the environmental detection unit 11 of vehicle 1. The environmental detection unit 11 includes, for example, one or more of the following devices: an onboard camera, millimeter-wave radar, lidar, ultrasonic radar, etc. The safety zone around the vehicle body is the surrounding area defined outside the vehicle body outline for the safe driving space of vehicle 1, completely covering the vehicle body outline, and as... Figure 2 The safety zone around the vehicle body is marked with a dotted line frame. A certain safety distance is set between each boundary line of the safety zone and the boundary line of the vehicle body outline. The intersection area of ​​the constructed risk collision zone and the pre-defined safety zone around the vehicle body is set as the alarm zone of the vehicle. When a target object is detected in the intersection zone, a collision warning signal of the vehicle can be triggered, for example, sending a corresponding collision warning signal to the driver of the vehicle. If the driver of the vehicle fails to respond in time, or if the estimated remaining time of collision between the vehicle and the target object is less than a preset time threshold, braking or deceleration operations of the vehicle can also be performed based on the collision warning signal.

[0024] According to the above embodiments of this application, during the steering process of a vehicle in front-wheel steering mode, a risk collision area of ​​the vehicle is constructed based on the circular area swept by the first line segment between the outermost front corner of the vehicle body and the first intersection point. By detecting the target object in the intersection area of ​​the constructed risk collision area and the safety area around the vehicle body, the collision risk between the vehicle and the target object on the turning path can be assessed, thereby achieving a fast, accurate and efficient assessment of the driving space safety of the vehicle in front-wheel steering mode, and minimizing the excessive interference of false collision risk alarms on the driver's driving operation.

[0025] Figure 3A flowchart illustrating a method for assessing the safe driving space of a vehicle in four-wheel steering mode, according to an exemplary embodiment of this application, is shown. The following exemplary embodiments describe the method according to this application in more detail. The method can be performed by a driver assistance system 10 of vehicle 1.

[0026] like Figure 3 As shown, the method may include steps S1' to S3'. In step S1', when vehicle 1 is turning towards the first side of the vehicle body in four-wheel steering mode, the second turning radius R2 of vehicle 1 and the second center position O2 of the second turning radius R2 can be determined based on the front wheel steering angle α and the rear wheel steering angle β of vehicle 1 and the wheelbase L.

[0027] In the current embodiment of this application, vehicle 1 is equipped with rear-wheel independent steering, thereby enabling independent control of the front wheel steering angle α and the rear wheel steering angle β of vehicle 1, wherein, in the four-wheel steering mode, the front wheel steering angle α and the rear wheel steering angle β of vehicle 1 are set to be unequal. Figure 4 In the schematic diagram of a driving scenario of a vehicle 1 in four-wheel steering mode according to an exemplary embodiment of this application, the vehicle 1 is turning to the left side of the vehicle body in a four-wheel steering manner. Based on the front wheel steering angle α and the rear wheel steering angle β of the vehicle 1 and the wheelbase L, the second turning radius R2 of the vehicle 1 and the second center position O2 of the second turning radius R2 can be calculated, for example, by the following formula: .

[0028] Compared to the front-wheel steering mode of vehicle 1, the turning radius of vehicle 1 in four-wheel steering mode is more flexible and varied, enabling vehicle 1 to complete steering operations in complex and narrow driving environments.

[0029] In step S2', the risk collision area of ​​vehicle 1 can be constructed based on the outermost corner point of the second side of vehicle 1 opposite to the first side and the second intersection point F, sweeping around the second center position O2 towards the driving direction of vehicle 1 in a circular area. For example... Figure 4 As shown, the corner points of vehicle 1 may include the outermost front corner point C and the outermost rear corner point D on the right side of the vehicle, and the innermost front corner point B and the innermost rear corner point A on the left side of the vehicle. When vehicle 1 is turning four wheels to the left, the part of vehicle 1 closest to the second center position O2 is the second intersection point F, which is the intersection of the perpendicular lines from the second center position O2 with respect to the innermost part of the first side of vehicle 1. Next, the construction process of the risk collision zone of vehicle 1 will be described according to whether vehicle 1 is turning forward or backward.

[0030] When vehicle 1 is turning forward towards the first side of the vehicle body, the first risk collision area of ​​vehicle 1 can be constructed by the annular area swept by the third line segment CF between the first outermost corner point C of vehicle 1 and the second intersection point F, around the second center position O2 in the direction of travel of vehicle 1. Here, the first outermost corner point C is the corner point on the second side (i.e., the right side) of vehicle 1 opposite to the first side, and in the same direction (i.e., forward) as the direction of travel of vehicle 1, specifically the outermost front corner point C on the right side of the vehicle body. Figure 4 As shown, a third circle is constructed with the second center position O2 as the center and the dashed line segment O2F between the second center position O2 and the second intersection point F as the radius; a fourth circle can be constructed with the second center position O2 as the center and the dashed line segment O2C between the second center position O2 and the outermost front corner point C of the vehicle body as the radius. The annular region between the third circle and the fourth circle is the annular region swept by the third line segment CF around the second center position O2, and this annular region is constructed as the first risk collision area of ​​vehicle 1.

[0031] When vehicle 1 is turning forward toward the first side of the vehicle body, the circular area swept by the fourth line segment O2D between the second outermost body corner point D of vehicle 1 and the second center position O2, relative to the protruding area of ​​the fifth line segment CD between the first outermost body corner point C and the second outermost body corner point D of vehicle 1, can be constructed as the second risk collision area of ​​vehicle 1. Here, the second outermost body corner point D is the body corner point on the second side (i.e., the right side) of vehicle 1 opposite to the first side and in the opposite direction (i.e., rearward) to the driving direction of vehicle 1, specifically the outermost rear corner point D on the right side of the vehicle body. Figure 4 As shown, a fifth circle is constructed with the second center position O2 as the center position and the dashed line segment O2D between the second center position O2 and the second outermost vehicle body corner point D as the radius. The protruding area of ​​the fifth circle beyond the right vehicle body boundary line CD of vehicle 1 is the second risk collision area of ​​vehicle 1.

[0032] When vehicle 1 is turning backward towards the first side of its body, the sixth line segment DF between the second outermost body corner point D and the second intersection point F of vehicle 1, sweeping around the second center position O2 in the direction of vehicle 1's travel, can be constructed as the first risk collision area of ​​vehicle 1. Here, the second outermost body corner point D is the body corner point on the second side (i.e., the right side) of vehicle 1 opposite to the first side and in the same direction (i.e., rearward) as the direction of vehicle 1's travel, specifically the outermost rear corner point on the right side of the body. Figure 4As shown, a third circle is constructed with the second center position O2 as the center and the dashed line segment O2F between the second center position O2 and the second intersection point F as the radius; a fifth circle is constructed with the second center position O2 as the center and the dashed line segment O2D between the second center position O2 and the second outermost rear corner point D of the vehicle body as the radius. The annular region between the third circle and the fifth circle is the annular region swept by the sixth line segment DF around the second center position O2, and this annular region is constructed as the first risk collision zone of vehicle 1.

[0033] When vehicle 1 is turning backward toward the first side of its body, the circular area swept by the seventh line segment O2C between the first outermost body corner point C of vehicle 1 and the second center position O2, relative to the protruding area of ​​the fifth line segment CD between the first outermost body corner point C and the second outermost body corner point D of vehicle 1, can be constructed as the second risk collision area of ​​vehicle 1. Here, the first outermost body corner point C is a body corner point on the second side (i.e., the right side) of vehicle 1 opposite to the first side and in the opposite direction to the driving direction of vehicle 1. For example... Figure 4 As shown, a fourth circle can be constructed with the second center position O2 as the center and the dashed line segment O2C between the second center position O2 and the outermost front corner point C of the vehicle body as the radius. The protruding area of ​​the fourth circle that extends beyond the right side boundary line CD of vehicle 1 but does not extend beyond the rear side boundary line AD of vehicle 1 is the second risk collision area of ​​vehicle 1.

[0034] In step S3', if a target object is detected in the intersection area of ​​the constructed risk collision zone and the pre-defined safety zone around the vehicle 1, a collision warning signal for the vehicle 1 can be triggered. During the process of the vehicle 1 turning towards the first side of the vehicle body in four-wheel steering mode, target objects in the surrounding environment of the vehicle 1 can be detected by the environmental detection unit 11 of the vehicle 1. The environmental detection unit 11 includes, for example, one or more of the following devices: an onboard camera, millimeter-wave radar, lidar, ultrasonic radar, etc. Figure 4Similarly, the safety zone around vehicle 1 is marked with a dotted line frame. This safety zone is an area outside the vehicle 1's outline, defined to ensure a safe driving space for vehicle 1. It completely covers the vehicle 1's outline, and each boundary line of the safety zone is at a certain safety distance from the boundary line of the vehicle 1's outline. Here, it is necessary to detect not only whether a target object exists in the first intersection area between the constructed first risk collision area and the pre-defined safety zone around vehicle 1, but also whether a target object exists in the second intersection area between the constructed second risk collision area and the pre-defined safety zone around vehicle 1. When a target object is detected in at least one of the first and second intersection areas, a collision warning signal for vehicle 1 can be triggered, thereby sending a corresponding collision warning signal to the driver of vehicle 1, for example. If the driver of vehicle 1 does not respond in time, or if the estimated remaining time of collision between vehicle 1 and the target object is less than a preset time threshold, braking or deceleration operations can also be performed on vehicle 1 based on the collision warning signal.

[0035] According to the above embodiments of this application, during the process of a vehicle turning in four-wheel steering mode, a risk collision area of ​​the vehicle is constructed based on the circular area swept around the second center position in the direction of vehicle travel from the outermost corner of the vehicle body and the second intersection point. By detecting the target objects in the intersection area of ​​the constructed risk collision area and the safety area around the vehicle body, the collision risk between the vehicle and the target objects on the turning path can be assessed. This enables a fast, accurate and efficient assessment of the driving space safety of the vehicle in four-wheel steering mode, and minimizes the excessive interference of false collision risk alarms on the driver's driving operation.

[0036] Figure 5 A flowchart illustrating a method for assessing safe driving space of a vehicle in crab mode, according to an exemplary embodiment of this application, is shown. The following exemplary embodiments describe the method according to this application in more detail. The method can be performed by a driver assistance system 10 of vehicle 1.

[0037] like Figure 5As shown, the method may include steps S1” and S2”. In step S1”, when vehicle 1 is traveling along a planned crab walk path in crab walk mode, the area swept by the outermost and innermost corner points of vehicle 1 along the path direction of the crab walk path can be constructed as the risk collision zone of vehicle 1. In the current embodiment of this application, vehicle 1 is equipped with rear wheel independent steering function, and the front wheel steering angle and rear wheel steering angle of vehicle 1 can be set to be equal, thereby controlling vehicle 1 to move in crab walk mode. In crab walk mode, vehicle 1 can be controlled to move along a diagonal crab walk path in a diagonal direction (i.e., the front and rear wheel steering angles are the same and are both less than 90°) or along a straight crab walk path perpendicular to the side of vehicle 1 in a lateral direction (i.e., the front and rear wheel steering angles are the same and are both equal to 90°). In the sense of this application, the crab walk path can be understood as a diagonal straight path or a lateral straight path perpendicular to the side of vehicle 1 when vehicle 1 moves in crab walk mode.

[0038] like Figure 6 This illustration shows a driving scenario of a vehicle in crab-like mode according to an exemplary embodiment of this application. The vehicle's corner points may include the outermost front corner point C and the outermost rear corner point D on the right side of the vehicle, and the innermost front corner point B and the innermost rear corner point A on the left side of the vehicle. When the vehicle 1 is traveling in crab-like mode along a planned crab-like path towards the side front of the first side of the vehicle, the area enclosed by the eighth line segment CF extending forward along the path direction of the crab-like path from the first outermost corner point C of the vehicle 1 and the ninth line segment AE extending forward along the path direction of the crab-like path from the first innermost corner point A of the vehicle 1 can be constructed as the risk collision zone of the vehicle 1. Here, the first outermost vehicle body corner point C is the vehicle body corner point on the second side (i.e., the right side) opposite to the first side of the vehicle 1 and in the same direction (i.e., forward) as the driving direction of the vehicle 1, that is, the outermost front corner point C on the right side of the vehicle body; the first innermost vehicle body corner point A is the vehicle body corner point on the first side (i.e., the left side) of the vehicle 1 and in the opposite direction (i.e., backward) as the driving direction of the vehicle 1, that is, the innermost rear corner point A on the left side of the vehicle body.

[0039] When vehicle 1 is traveling in a crab-like mode along a planned crab-like path towards the rear of the first side of the vehicle body, the area enclosed by the tenth line segment CH extending rearward from the first outermost body corner point C of vehicle 1 along the path direction of the crab-like path and the eleventh line segment AG extending rearward from the first innermost body corner point A of vehicle 1 along the path direction of the crab-like path can be constructed as the risk collision zone of vehicle 1. Here, the first outermost body corner point C is the body corner point on the second side (i.e., right side) of vehicle 1 opposite to the first side and in the opposite direction (i.e., forward) of the vehicle 1's driving direction, that is, the outermost front body corner point C on the right side of the vehicle body; the first innermost body corner point A is the body corner point on the first side (i.e., left side) of vehicle 1 and in the same direction (i.e., rearward) of the vehicle 1's driving direction, that is, the innermost rear body corner point A on the left side of the vehicle body.

[0040] In step S2", if a target object is detected in the intersection area of ​​the constructed risk collision zone and the pre-defined safety zone around the vehicle 1, a collision warning signal for vehicle 1 can be triggered. While vehicle 1 is traveling in crab mode along a planned crab-like path, target objects in the surrounding environment of vehicle 1 can be detected by the environmental detection unit 11, which includes one or more of the following devices: an onboard camera, millimeter-wave radar, lidar, ultrasonic radar, etc. Figure 6 Similarly, the safety zone around vehicle 1 is marked with a dotted line frame. This safety zone is a perimeter area defined outside the vehicle 1's body outline for safe driving space, completely covering the vehicle 1's body outline. A certain safety distance is maintained between each boundary line of the safety zone and the boundary line of the vehicle 1's body outline. Here, the intersection of the constructed risk collision zone and the pre-defined safety zone around vehicle 1 is set as the vehicle 1's alarm zone. When a target object is detected in the intersection zone, a collision warning signal can be triggered on vehicle 1, thereby sending a corresponding collision warning signal to the driver of vehicle 1, for example. If the driver of vehicle 1 fails to respond in time, or if the estimated remaining time of collision between vehicle 1 and the target object is less than a preset time threshold, braking or deceleration operations can also be performed on vehicle 1 based on the collision warning signal.

[0041] According to the above embodiments of this application, during the process of a vehicle driving in crab mode, the area swept by the outermost and innermost corner points of the vehicle along the path direction of the crab path is constructed as the risk collision zone of the vehicle. By detecting the target object in the intersection area of ​​the constructed risk collision zone and the safety zone around the vehicle, the collision risk between the vehicle and the target object on the crab path can be assessed, thereby achieving a fast, accurate and efficient assessment of the driving space safety of the vehicle in crab mode, and minimizing the excessive interference of false collision risk alarms on the driver's driving operation.

[0042] In addition, it should be noted that the step numbers described herein do not necessarily represent the order of steps, but are merely a reference numeral. The order may be changed depending on the specific circumstances, as long as the technical objective of this application can be achieved.

[0043] Figure 7 A schematic diagram of a vehicle according to an exemplary embodiment of this application is shown. Figure 7 As shown, vehicle 1 is equipped with a driver assistance system 10, which may include the following components: - An environmental detection unit 11 is configured to detect targets in the surrounding environment of the vehicle 1, wherein the environmental detection unit 11 includes, for example, one or more of the following devices: vehicle-mounted camera, millimeter-wave radar, lidar, ultrasonic radar, etc. - Control unit 12, which is configured to perform the method according to this application.

[0044] It should be understood that the terms “first,” “second,” “third,” etc., used in this document are for descriptive purposes only and should not be construed as indicating or implying relative importance, nor should they be construed as implicitly specifying the number of technical features indicated.

[0045] If an embodiment includes an "and / or" association between a first feature and a second feature, it should be interpreted as follows: according to one implementation, the embodiment has not only the first feature but also the second feature; according to another implementation, the embodiment has either only the first feature or only the second feature.

[0046] Although specific embodiments have been described above, these embodiments are not intended to limit the scope of this application, even when only a single embodiment is described with respect to a particular feature. The feature examples provided in this application are intended for illustrative purposes and not for limitation, unless otherwise stated. In practice, multiple features may be combined with each other as needed and where technically feasible. Various substitutions, modifications, and alterations are also conceived without departing from the spirit and scope of this application.

Claims

1. A method for assessing the safe driving space of a vehicle (1) in front-wheel steering mode, the method comprising: When the vehicle (1) is turning towards the first side of the vehicle body in front wheel steering mode, the first turning radius R1 and the first center position O1 of the first turning radius R1 are determined based on the front wheel steering angle and wheelbase of the vehicle (1); The risk collision area of ​​the vehicle (1) is constructed by the first line segment CE between the outermost front corner point C of the second side opposite to the first side and the first intersection point E, sweeping around the first center position O1 in the direction of travel of the vehicle (1). The first intersection point E is the intersection point between the rear axle of the vehicle (1) and the outermost edge of the rear wheel tire of the first side of the vehicle (1). If a target is detected in the intersection area of ​​the constructed risk collision area and the pre-given safety area around the vehicle (1), a collision alarm signal of the vehicle (1) is triggered.

2. The method according to claim 1, wherein, When the vehicle (1) is turning forward toward the first side of the vehicle body in front-wheel steering mode, the annular area swept by the first line segment CE around the first center position O1 in the forward turning direction of the vehicle (1) is constructed as the risk collision area of ​​the vehicle (1); and / or When the vehicle (1) is turning backward toward the first side of the vehicle body in front wheel steering mode, the circular area swept by the first line segment CE around the first center position O1 in the direction of the vehicle (1) turning backward is constructed as the risk collision area of ​​the vehicle (1).

3. A method for assessing the safe driving space of a vehicle (1) in a four-wheel steering mode, the method comprising: When the vehicle (1) is turning towards the first side of the vehicle body in four-wheel steering mode, the second turning radius R2 and the second center position O2 of the second turning radius R2 are determined based on the front wheel steering angle and the rear wheel steering angle of the vehicle (1) and the wheelbase, wherein the front wheel steering angle and the rear wheel steering angle of the vehicle (1) are set to be unequal in the four-wheel steering mode; Based on the outermost body corner point of the second side of the vehicle (1) opposite to the first side and the second intersection point F, the risk collision area of ​​the vehicle (1) is constructed around the circular area swept by the second center position O2 in the direction of travel of the vehicle (1), wherein the second intersection point F is the intersection point of the perpendicular line of the second center position O2 with respect to the innermost body of the first side of the vehicle (1). If a target is detected in the intersection area of ​​the constructed risk collision area and the pre-given safety area around the vehicle (1), a collision alarm signal of the vehicle (1) is triggered.

4. The method according to claim 3, wherein, When the vehicle (1) turns forward toward the first side of the vehicle body, the third line segment CF between the first outermost corner point C of the vehicle (1) and the second intersection point F is used to construct the annular area swept around the second center position O2 in the direction of travel of the vehicle (1) as the first risk collision area of ​​the vehicle (1). The first outermost corner point C is the corner point of the vehicle (1) on the second side opposite to the first side and in the same direction as the direction of travel of the vehicle (1). The circular area swept by the fourth line segment O2D between the second outermost body corner point D and the second center position O2 of the vehicle (1) is constructed as the protruding area of ​​the fifth line segment CD between the first outermost body corner point C and the second outermost body corner point D of the vehicle (1) as the second risk collision area of ​​the vehicle (1), wherein the second outermost body corner point D is the body corner point on the second side of the vehicle (1) opposite to the first side and in the opposite direction to the driving direction of the vehicle (1); If a target is detected in the intersection area of ​​the constructed first risk collision area and / or second risk collision area with the pre-given safety area around the vehicle (1), the collision alarm signal of the vehicle (1) is triggered.

5. The method according to claim 3 or 4, wherein, When the vehicle (1) turns backward toward the first side of the vehicle body, the sixth line segment DF between the second outermost body corner point D and the second intersection point F of the vehicle (1) sweeps around the second center position O2 in the direction of travel of the vehicle (1) to form the first risk collision area of ​​the vehicle (1), wherein the second outermost body corner point D is the body corner point on the second side of the vehicle (1) opposite to the first side and in the same direction as the direction of travel of the vehicle (1); The circular area swept by the seventh line segment O2C between the first outermost body corner point C and the second center position O2 of the vehicle (1) is constructed as the protruding area of ​​the fifth line segment CD between the first outermost body corner point C and the second outermost body corner point D of the vehicle (1) as the second risk collision area of ​​the vehicle (1), wherein the first outermost body corner point C is the body corner point on the second side of the vehicle (1) opposite to the first side and in the opposite direction to the driving direction of the vehicle (1); If a target is detected in the intersection area of ​​the constructed first risk collision area and / or second risk collision area with the pre-given safety area around the vehicle (1), the collision alarm signal of the vehicle (1) is triggered.

6. A method for assessing the safe driving space of a vehicle (1) in crab mode, the method comprising: When the vehicle (1) travels along the planned crab path in crab mode, the area swept by the outermost and innermost body corners of the vehicle (1) along the path direction of the crab path is constructed as the risk collision area of ​​the vehicle (1), wherein the front wheel steering angle and the rear wheel steering angle of the vehicle (1) are set to be equal in the crab mode. If a target is detected in the intersection area of ​​the constructed risk collision area and the pre-given safety area around the vehicle (1), a collision alarm signal of the vehicle (1) is triggered.

7. The method according to claim 6, wherein, When the vehicle (1) is traveling in a crab-like mode along a planned crab-like path towards the front of the first side of the vehicle body, the area enclosed by the eighth line segment CF extending forward along the path direction of the crab-like path from the first outermost body corner point C of the vehicle (1) and the ninth line segment AE extending forward along the path direction of the crab-like path from the first innermost body corner point A of the vehicle (1) is constructed as the risk collision zone of the vehicle (1). Here, the first outermost body corner point C is a body corner point on the second side of the vehicle (1) opposite to the first side and in the same direction as the vehicle (1)'s travel direction; and the first innermost body corner point A is a body corner point on the first side of the vehicle (1) and in the opposite direction to the vehicle (1)'s travel direction; and / or When the vehicle (1) is traveling in a crab-like mode along a planned crab-like path towards the rear of the first side of the vehicle body, the area enclosed by the tenth line segment CH extending backward from the first outermost body corner point C of the vehicle (1) along the path direction of the crab-like path and the eleventh line segment AG extending backward from the first innermost body corner point A of the vehicle (1) along the path direction of the crab-like path is constructed as the risk collision area of ​​the vehicle (1). The first outermost body corner point C is a body corner point on the second side of the vehicle (1) opposite to the first side and in the opposite direction to the driving direction of the vehicle (1). The first innermost body corner point A is a body corner point on the first side of the vehicle (1) and in the same direction as the driving direction of the vehicle (1).

8. A driver assistance system (10), the driver assistance system (10) comprising the following components: An environmental detection unit (11) is configured to detect targets in the environment surrounding the vehicle (1); Control unit (12) configured to perform the method according to any one of claims 1 to 7.

9. A vehicle (1) comprising a driver assistance system (10) according to claim 8.

10. A computer program product, such as a computer-readable program carrier, comprising or storing computer program instructions that, when executed by a processor, at least auxiliaryly implement the steps of the method according to any one of claims 1 to 7.

Images