A domain controller-based dynamic lateral cooperative warning method and system for commercial vehicles

Abstract

The application discloses a kind of based on domain controller's commercial vehicle dynamic lateral collaborative warning method and system, belong to commercial vehicle electronic control and active safety technical field.Method includes: obtaining light trigger signal;Light trigger signal includes driver operation signal provided by vehicle body front domain controller, environmental risk signal provided by auxiliary driving domain controller and vehicle collision signal provided by vehicle-mounted remote information terminal;Driver operation signal, environmental risk signal and vehicle collision signal are prioritized risk arbitration, and the prioritized risk arbitration is based on the arbitration logic of pre-setting;The arbitration logic is that the priority of the vehicle collision signal is higher than environmental risk signal, and the priority of environmental risk signal is higher than driver operation signal;According to the result of prioritized risk arbitration, generate side marker light driving instruction, and execute dynamic warning mode matched with current prioritized risk arbitration.The application converts in-vehicle early warning into active dynamic warning of side marker light through cross-domain fusion and prioritized arbitration, and improves commercial vehicle lateral active safety.

Description

Technical Field

[0001] This invention belongs to the field of electronic control and active safety technology for commercial vehicles, specifically relating to a dynamic lateral cooperative warning method and system for commercial vehicles based on a domain controller. Background Technology

[0002] As the level of intelligence in commercial vehicles continues to improve, their driver assistance and active safety functions are becoming increasingly sophisticated. However, due to their large size and numerous blind spots, commercial vehicles have limitations in warning pedestrians and non-motorized vehicles to the side and rear, especially during lane changes, turns, or emergencies. Traditional vehicle lighting and signaling systems, such as turn signals and hazard warning lights, have relatively fixed and passive triggering modes, typically only responding to the driver's manual operation and unable to adaptively adjust and provide coordinated warnings based on actual vehicle dynamics and environmental risk conditions.

[0003] While existing technologies offer warning functions based on independent systems such as blind spot monitoring, lane departure warning, and forward collision warning, the warning outputs of these systems are often independent of each other, and the warning methods are mainly based on in-vehicle auditory or visual alarms, which are insufficient for direct and effective warnings to external road users. As automotive electronic and electrical architectures evolve towards domain-centralized architectures, front vehicle domain controllers and driver assistance domain controllers provide the hardware foundation for cross-system signal fusion and collaborative control. Therefore, how to utilize domain controller architecture to integrate multi-source information from environmental perception, vehicle status, and driver operation, and dynamically control side warning lights to achieve intelligent warning functions in various risk scenarios, has become a crucial technical challenge for improving the active safety performance of commercial vehicles. Therefore, there is an urgent need for a dynamic lateral cooperative warning system and its control method for commercial vehicles based on a domain controller. By integrating multiple sensors and a domain controller architecture, it can achieve intelligent perception and cooperative warning of lateral environmental risks of vehicles, improve the warning effect of commercial vehicles on nearby road users in lane changing, turning and risky scenarios, and enhance road safety. Summary of the Invention

[0004] The technical problem to be solved by this invention is: how to use a domain controller architecture to achieve cross-domain signal fusion and improve the lack of proactive warnings for commercial vehicles.

[0005] To address the aforementioned technical problems, this invention provides a dynamic lateral cooperative warning method for commercial vehicles based on a domain controller, executed by the rear domain controller of the vehicle body, comprising the following steps: Acquire light trigger signals; the light trigger signals include driver operation signals provided by the front vehicle domain controller, environmental risk signals provided by the driver assistance domain controller, and vehicle collision signals provided by the onboard telematics terminal; wherein, the environmental risk signals are generated by the driver assistance domain controller based on the collected vehicle status and identified road environment information; The driver operation signal, environmental risk signal, and vehicle collision signal are subject to priority risk arbitration, which is based on a preset arbitration logic. The arbitration logic is that the vehicle collision signal has a higher priority than the environmental risk signal, and the environmental risk signal has a higher priority than the driver operation signal. Based on the result of the priority risk arbitration, a side marker light driving command is generated, and a dynamic warning mode matching the current priority risk arbitration is executed.

[0006] The aforementioned domain controller-based dynamic lateral cooperative warning method for commercial vehicles includes environmental risk signals such as collision warning signals and blind spot warning signals; and driver operation signals such as turn signal switch signals, hazard warning light switch signals, and main light switch signals.

[0007] In the aforementioned domain controller-based dynamic lateral collaborative warning method for commercial vehicles, the arbitration logic prioritizes the following signals in descending order: vehicle collision signal, collision warning signal, blind spot alarm signal, hazard warning light switch signal, turn signal switch signal, and main light switch signal.

[0008] In the aforementioned domain controller-based dynamic lateral cooperative warning method for commercial vehicles, when the priority risk arbitration result is a vehicle collision signal, the left and right side marker lights and turn signals are driven to flash continuously and synchronously at a set frequency; when the vehicle is powered on before the collision, the flashing continues until manual intervention; when the vehicle is not powered on before the collision, the flashing automatically turns off after a set duration.

[0009] In the aforementioned domain controller-based dynamic lateral cooperative warning method for commercial vehicles, when the priority risk arbitration result is a collision warning signal, the left and right side marker lights and turn signals are driven to flash synchronously at the same frequency a set number of times. After the flashing ends, the left and right side marker lights return to the state before the warning was triggered.

[0010] In the aforementioned domain controller-based dynamic lateral cooperative warning method for commercial vehicles, when the priority risk arbitration result is a blind spot alarm signal, the side marker light on the same side as the blind spot alarm is driven to flash at a set frequency, while the side marker light remains in its original state; when the blind spot alarm signal is cleared, the corresponding side marker light returns to its state before the alarm.

[0011] The aforementioned domain controller-based dynamic lateral coordinated warning method for commercial vehicles stipulates that when the hazard warning light switch signal is triggered, the left and right side marker lights and turn signals are driven to flash synchronously; when the turn signal switch signal is triggered, the same side side marker lights and turn signals are driven to flash at the same frequency; and when the main light switch signal is triggered and the ambient light brightness is lower than a set threshold, the left and right side marker lights are driven to illuminate fully.

[0012] The aforementioned dynamic lateral cooperative warning method for commercial vehicles based on domain controllers includes side marker lights, which are left and right side marker lights. The rear domain controller controls the side marker lights to be fully lit, off, or flashing via a high-side drive circuit.

[0013] The present invention also provides a domain controller-based dynamic lateral cooperative warning system for commercial vehicles, which executes the domain controller-based dynamic lateral cooperative warning method for commercial vehicles described in any of the preceding claims, including: The front domain controller is used to acquire driver operation signals and transmit them to the rear domain controller via the CAN bus. The driver assistance domain controller is used to generate an environmental risk signal based on the collected vehicle status and identified road environment information. The environmental risk signal is transmitted to the vehicle rear domain controller through a gateway. The vehicle-mounted remote information terminal is used to generate a vehicle collision signal, which is transmitted to the rear domain controller of the vehicle body through a gateway. The rear domain controller receives driver operation signals from the front domain controller, environmental risk signals from the driver assistance domain controller, and vehicle collision signals from the onboard telematics terminal via the CAN bus, and performs priority risk arbitration and generates side marker light drive commands.

[0014] The aforementioned commercial vehicle dynamic side-cooperative warning system based on a domain controller includes a side marker light control circuit within its rear domain controller. This side marker light control circuit comprises: The MCU connects to the vehicle network to receive driver operation signals, environmental risk signals, and vehicle collision signals, and outputs control levels to the HSD chip according to the internal priority risk arbitration logic. The HSD chip, connected to the MCU, is used to control the side indicator lights to be fully lit, off, or flashing in a high-side driving mode according to the control level. A pull-down resistor is connected to the control line between the MCU and the HSD chip to keep the control line at a low level when the MCU is not activated, preventing the side indicator light from being triggered accidentally. A protection capacitor is connected between the output terminal of the HSD chip and ground to suppress voltage spikes; A diode, connected in parallel across the side marker light load, is used to provide a freewheeling path for the inductive load when the HSD chip is turned off.

[0015] The beneficial effects achieved by the present invention are as follows: The present invention receives driver operation signals from the front domain controller, environmental risk signals from the driver assistance domain controller, and vehicle collision signals from the vehicle remote information terminal through the rear domain controller of the vehicle body. This realizes cross-domain signal fusion and collaborative decision-making, breaks the limitation of the independent operation of each warning function under the traditional distributed control method, and enables the side warning to comprehensively process multi-source signals such as environmental perception, vehicle dynamics and driver operation.

[0016] Based on a pre-defined priority arbitration logic, the system ensures that in high-risk scenarios, it can autonomously and promptly drive the side marker lights to provide dynamic warnings, independent of the driver's manual operation. This significantly enhances the warning effect for pedestrians, non-motorized vehicles, and other road users to the side and rear of commercial vehicles, compensating for the large blind spots of commercial vehicles and improving lateral active safety. By intelligently linking triggering scenarios with vehicle light status, the side marker lights can provide warnings based on different scenarios such as turning, hazard lights, collision warning, blind spot warning, and collision accidents. This makes the warning information more recognizable to road users, helping them understand the vehicle's status and intentions and make appropriate evasive responses. Attached Figure Description

[0017] Figure 1 This is a flowchart of the commercial vehicle dynamic lateral cooperative warning method of the present invention; Figure 2 This is a schematic diagram of the commercial vehicle dynamic lateral cooperative warning system of the present invention. Figure 3 This is a schematic diagram of the side marker light control circuit of the present invention. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0019] Example 1

[0020] This embodiment provides a dynamic lateral cooperative warning method for commercial vehicles based on a domain controller, executed by the rear domain controller of the vehicle body, including the following steps: Acquire light trigger signals; the light trigger signals include driver operation signals provided by the front vehicle domain controller, environmental risk signals provided by the driver assistance domain controller, and vehicle collision signals provided by the onboard telematics terminal; wherein, the environmental risk signals are generated by the driver assistance domain controller based on the collected vehicle status and identified road environment information; The driver operation signal, environmental risk signal, and vehicle collision signal are subject to priority risk arbitration, which is based on a preset arbitration logic. The arbitration logic is that the vehicle collision signal has a higher priority than the environmental risk signal, and the environmental risk signal has a higher priority than the driver operation signal. Based on the result of the priority risk arbitration, a side marker light driving command is generated, and a dynamic warning mode matching the current priority risk arbitration is executed.

[0021] The rear-side domain controller receives driver operation signals from the front-side domain controller via the CAN bus, and environmental risk signals from the driver assistance domain controller via a gateway. The driver operation signals include turn signal switch signals, hazard warning light switch signals, and master light switch signals; the environmental risk signals include collision warning signals, blind spot warning signals, and vehicle collision signals from the onboard telematics terminal.

[0022] The vehicle's rear domain controller performs priority risk arbitration on the acquired driver operation signals and environmental risk signals. This priority risk arbitration is based on preset arbitration logic. The arbitration logic table is shown below:

[0023] When multiple environmental risk signals exist simultaneously, the signal with the highest priority is selected as the result of priority risk arbitration. The vehicle collision signal has a higher priority than the environmental risk signal, which in turn has a higher priority than the driver operation signal. Based on the risk arbitration result, the rear domain controller generates corresponding lighting drive commands, driving the left and right warning lights of the commercial vehicle via a high-side drive circuit to execute a dynamic warning mode matching the current priority risk arbitration. This includes: When the arbitration result is a first-priority vehicle collision signal, the rear domain controller drives the left and right marker lights and turn signals to flash synchronously at the same frequency. If the vehicle was in the ON position before the collision, the flashing will continue until manual intervention turns it off; if the vehicle was in the non-ON position before the collision, the flashing will automatically turn off after the set duration.

[0024] When the arbitration result is a second-priority vehicle collision warning signal, the rear domain controller drives the left and right marker lights and turn signals to flash synchronously at the same frequency a set number of times. After the flashing ends, the marker lights on both sides return to their state before the warning was triggered. The collision warning signal is generated by the driver assistance domain controller based on data from the forward-facing camera and millimeter-wave radar, calculating the collision time between the vehicle and the obstacle in front, and when the risk exceeds a threshold.

[0025] When the arbitration result is a third-priority blind spot warning signal, the rear domain controller drives the side marker light on the same side as the blind spot warning light to flash, while the other side marker lights remain in their original state. The blind spot warning signal is generated by the driver assistance domain controller when the surround-view camera detects a road user in the lateral blind spot, and the steering angle sensor signal indicates that the driver intends to steer in the same direction. Once the blind spot warning signal is cleared, the side marker light returns to its pre-alarm state.

[0026] When the arbitration result is a fourth-priority hazard warning light switch signal, the rear domain controller drives the left and right warning lights to flash synchronously at the same frequency as the turn signals. When the hazard warning light switch is turned off, the left and right warning lights return to their original state.

[0027] When the arbitration result is a fifth priority turn signal switch signal, if it is a left turn signal switch signal, the rear domain controller drives the left marker light to flash at the same frequency as the left turn signal, while the right marker light remains in its original state; after the left turn signal switch is turned off, the left marker light returns to its original state. If it is a right turn signal switch signal, the rear domain controller drives the right marker light to flash at the same frequency as the right turn signal, while the left marker light remains in its original state; after the right turn signal switch is turned off, the right marker light returns to its original state.

[0028] When the arbitration result is the sixth priority main light switch signal, if the main light switch is in the position light position, or low beam position, or AUTO position and the ambient light brightness detected by the light sensor is lower than the set threshold, the rear domain controller of the vehicle will drive the left and right marker lights to enter the fully lit state; otherwise, it will drive the left and right marker lights to remain in the off state.

[0029] Example 2

[0030] This embodiment provides a domain controller-based dynamic lateral cooperative warning system for commercial vehicles, used to execute the domain controller-based dynamic lateral cooperative warning method for commercial vehicles described in Embodiment 1. It includes: The front domain controller is connected to the combination switch, hazard warning light switch and main light switch to acquire driver operation signals and transmit the driver operation signals to the rear domain controller via the CAN bus. The driver assistance domain controller is connected to the signals of the forward-facing camera, millimeter-wave radar, surround-view camera and steering angle sensor. It is used to generate environmental risk signals based on the collected vehicle status and the identified road environment information. The environmental risk signals are transmitted to the rear domain controller of the vehicle body through the gateway. The vehicle-mounted remote information terminal is electrically connected to the acceleration sensor and is used to generate a vehicle collision signal based on the acceleration signal. The vehicle collision signal is transmitted to the rear domain controller of the vehicle body through the gateway. The rear domain controller receives driver operation signals from the front domain controller, environmental risk signals from the driver assistance domain controller, and vehicle collision signals from the onboard telematics terminal via the CAN bus, and performs priority risk arbitration and generates lighting drive commands.

[0031] Specifically, the collision warning signal is generated by the driver assistance domain controller based on data from the forward-view camera and millimeter-wave radar, calculating the collision time between the vehicle and an obstacle ahead, and when the risk exceeds a threshold. The blind spot warning signal is generated by the driver assistance domain controller when the surround-view camera detects a road user in the lateral blind spot, and when the steering angle sensor signal indicates that the driver intends to steer in the same direction.

[0032] The rear domain controller of the vehicle body has the same priority risk arbitration logic as in Embodiment 1. When multiple light trigger signals exist at the same time, conflict resolution is performed according to the preset priority order, and corresponding light driving commands are generated according to the resolution results. The left and right marker lights are driven to execute dynamic warning modes that match the current priority risk, so as to realize intelligent perception and collaborative warning of the vehicle's lateral environmental risks.

[0033] Example 3

[0034] This embodiment provides a side marker light control circuit, which is applied in the vehicle rear domain controller described in Embodiment 2, to implement priority risk arbitration logic and drive the left and right marker lights to execute corresponding dynamic warning modes.

[0035] The side marker light control circuit includes: an MCU, an HSD chip, pull-down resistors, a protection capacitor, and a freewheeling diode. The MCU connects to the vehicle network and receives driver operation signals from the front domain controller, environmental risk signals from the driver assistance domain controller, and vehicle collision signals from the onboard telematics terminal. Based on its internal priority risk arbitration logic, the MCU outputs corresponding control level signals to the HSD chip. The MCU system can use a Z20K148MCMQL chip.

[0036] The HSD chip has its input connected to the output of the MCU and its output connected to the side indicator light. It controls the side indicator light to be fully lit, off, or flashing in a high-side drive mode, based on the control level output by the MCU. The HSD chip features over-temperature protection, output short-circuit fault diagnosis, undervoltage shutdown, overvoltage clamping, and thermal shutdown functions. The WSTD6080 model of the HSD chip can be selected, with a dual-channel simultaneous operating load current of up to 3.5A.

[0037] A pull-down resistor, placed on the control line between the MCU and the HSD chip, is used to keep the input of the HSD chip at a low level when the MCU is not activated, preventing the side indicator lights from being triggered accidentally. The pull-down resistor model can be selected as 0603-1%-47K.

[0038] A protective capacitor, located at the output terminal of the HSD chip, is used to absorb transient energy and suppress voltage spikes. The capacitor 304 can be selected as 0805-22nF-100V.

[0039] A diode, connected in parallel across the side indicator light load, provides a freewheeling path for the inductive load when the HSD chip is turned off, preventing damage to the HSD chip. The diode 303 can be selected as model G3MF-F1-0000HF.

[0040] In this embodiment, when the MCU receives a light trigger signal via the CAN bus, it executes priority risk arbitration logic and outputs a corresponding control level to the HSD chip based on the arbitration result. The HSD chip then drives the side marker light to either be fully on, off, or flash at a set frequency according to the control level, thus realizing the dynamic lateral coordinated warning function as described in Embodiment 1.

[0041] With the aforementioned pull-down resistor, protection capacitor, and freewheeling diode, the control circuit provided in this embodiment remains stable in the inactive state and has transient suppression and fault protection capabilities in the working state, ensuring that the side marker lights can operate reliably under various working conditions.

[0042] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "up," "down," "front," "rear," "left," "right," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only used to explain the relative positional relationship and movement between components in a specific posture. If the specific posture changes, the directional indication will also change accordingly. These terms are used only for the convenience of describing the invention and for simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the invention.

[0043] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0044] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0045] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A dynamic lateral cooperative warning method for commercial vehicles based on a domain controller, executed by a rear domain controller of the vehicle body, characterized in that... This includes the following steps: Acquire light trigger signals; the light trigger signals include driver operation signals provided by the front vehicle domain controller, environmental risk signals provided by the driver assistance domain controller, and vehicle collision signals provided by the onboard telematics terminal; wherein, the environmental risk signals are generated by the driver assistance domain controller based on the collected vehicle status and identified road environment information; The driver operation signal, environmental risk signal, and vehicle collision signal are subject to priority risk arbitration, which is based on a preset arbitration logic. The arbitration logic is that the vehicle collision signal has a higher priority than the environmental risk signal, and the environmental risk signal has a higher priority than the driver operation signal. Based on the result of the priority risk arbitration, a side marker light driving command is generated, and a dynamic warning mode matching the current priority risk arbitration is executed.

2. The method for dynamic lateral cooperative warning of commercial vehicles based on a domain controller according to claim 1, characterized in that, The environmental risk signals include collision warning signals and blind spot warning signals; the driver operation signals include turn signal switch signals, hazard warning light switch signals, and main light switch signals.

3. The method for dynamic lateral cooperative warning of commercial vehicles based on a domain controller according to claim 2, characterized in that, In the arbitration logic, the priorities from highest to lowest are: vehicle collision signal, collision warning signal, blind spot alarm signal, hazard warning light switch signal, turn signal switch signal, and main light switch signal.

4. The method for dynamic lateral cooperative warning of commercial vehicles based on a domain controller according to claim 3, characterized in that, When the priority risk arbitration result is a vehicle collision signal, the left and right side marker lights and turn signals are driven to flash continuously and synchronously at a set frequency; when the vehicle is powered on before the collision, they continue to flash until manual intervention; when the vehicle is not powered on before the collision, the flashing will automatically turn off after a set duration.

5. The method for dynamic lateral cooperative warning of commercial vehicles based on a domain controller according to claim 3, characterized in that, When the priority risk arbitration result is a collision warning signal, the left and right side marker lights and turn signals are driven to flash synchronously at the same frequency a set number of times. After the flashing ends, the left and right side marker lights return to the state before the warning was triggered.

6. The method for dynamic lateral cooperative warning of commercial vehicles based on a domain controller according to claim 3, characterized in that, When the priority risk arbitration result is a blind zone alarm signal, the side marker light on the same side as the blind zone alarm is driven to flash at a set frequency, while the side marker light on the other side remains in its original state; when the blind zone alarm signal is cleared, the corresponding side marker light returns to its state before the alarm.

7. The method for dynamic lateral cooperative warning of commercial vehicles based on a domain controller according to claim 3, characterized in that, The priority risk arbitration result is that when the hazard warning light switch signal is triggered, the left and right side marker lights and turn signals are driven to flash synchronously; when the priority risk arbitration result is triggered when the turn signal switch signal is triggered, the side marker lights and turn signals on the same side are driven to flash at the same frequency; when the priority risk arbitration result is triggered when the main light switch signal is triggered and the ambient light brightness is lower than the set threshold, the left and right side marker lights are driven to light up.

8. The method for dynamic lateral cooperative warning of commercial vehicles based on a domain controller according to claim 1, characterized in that, The side marker lights include a left marker light and a right marker light. The rear domain controller controls the side marker lights to be fully lit, off, or flashing via a high-side drive circuit.

9. A domain controller-based dynamic lateral cooperative warning system for commercial vehicles, executing the domain controller-based dynamic lateral cooperative warning method for commercial vehicles according to any one of claims 1-8, characterized in that, include: The front domain controller is used to acquire driver operation signals and transmit them to the rear domain controller via the CAN bus. The driver assistance domain controller is used to generate an environmental risk signal based on the collected vehicle status and identified road environment information. The environmental risk signal is transmitted to the vehicle rear domain controller through a gateway. The vehicle-mounted remote information terminal is used to generate a vehicle collision signal, which is transmitted to the rear domain controller of the vehicle body through a gateway. The rear domain controller receives driver operation signals from the front domain controller, environmental risk signals from the driver assistance domain controller, and vehicle collision signals from the onboard telematics terminal via the CAN bus, and performs priority risk arbitration and generates side marker light drive commands.

10. The commercial vehicle dynamic lateral cooperative warning system based on a domain controller according to claim 9, characterized in that, The rear domain controller of the vehicle body is equipped with a side marker light control circuit, which includes: The MCU connects to the vehicle network to receive driver operation signals, environmental risk signals, and vehicle collision signals, and outputs control levels to the HSD chip according to the internal priority risk arbitration logic. The HSD chip, connected to the MCU, is used to control the side indicator lights to be fully lit, off, or flashing in a high-side driving mode according to the control level. A pull-down resistor is connected to the control line between the MCU and the HSD chip to keep the control line at a low level when the MCU is not activated, preventing the side indicator light from being triggered accidentally. A protection capacitor is connected between the output terminal of the HSD chip and ground to suppress voltage spikes; A diode, connected in parallel across the side marker light load, is used to provide a freewheeling path for the inductive load when the HSD chip is turned off.

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