Blind spot detection system

Abstract

The invention relates to a system that detects blind spots in traffic on all kinds of areas that can be considered as roads and to a method of operation of this system. The invention relates to a system for improving road safety and preventing traffic accidents by detecting blind spots in traffic for vulnerable road users such as pedestrians, cyclists, and motorcyclists and / or all types of road vehicles, and to a method of operation of such system.

Description

[0001] BLIND SPOT DETECTION SYSTEM

[0002] Technical Field

[0003] The invention relates to a system that detects blind spots in traffic on all kinds of areas that can be considered as roads and the method of operation of this system.

[0004] The invention relates to a system for improving road safety and preventing traffic accidents by detecting blind spots in traffic for vulnerable road users such as pedestrians, cyclists, and motorcyclists and / or all types of road vehicles, and to a method of operation of such system.

[0005] State of the Art

[0006] Traffic accidents remain a serious concern and lead to numerous deaths and injuries worldwide, especially in middle-income countries with high traffic volume and insufficient infrastructure despite the implementation of various safety measures. Vehicle blind spots remain a critical factor in causing these accidents, and challenges arise in identifying and protecting vulnerable users, especially where visibility is obstructed. There are various utility models and patent applications related to the detection of blind spots in the current system, as well as articles.

[0007] Application numbered "TR 2017 / 17926" in the state of the art relates to a detection and warning system that eliminates the possibility of accidents and risks that may occur due to the prevention of the creatures in the blind spot formed at the angle covered by the windshield poles during the use of all kinds of land vehicles, especially during the first movement of the vehicle and ensures that these creatures are perceived by the driver with the developed technology. The invention is characterized in that it has a thermal camera, heat sensor or alternative sensors that can detect heat placed on the glass poles of the vehicles, the windshield, the front grille, the left side surface or the right side surface of the vehicles, the motherboard that activates the communication of all commands between each other and the internal prevention systems, the vibration warning system, the warning lamp and the technology that activates the brake system, the speakers that send the audible warning commands, which will eliminate the image loss caused by the blind spot formed by the glass poles on the front left and right sides of the vehicles and enable the detection of the living beings at this blind spot angle.

[0008] Application numbered "US2016288713A1" in the state of the art relates to an imaging and video system for viewing blind spots configured to expand the field of view for automobile or motor vehicle, aircraft, or boat operators. The system comprises a first camera set comprising at least one screen connected to the support, at least one collector connected to the first camera group, at least one video compression device configured to compress the incoming video, video recorder, at least one projector in communication with said at least one camera. In addition, the first camera set is also connected to at least one support, and wherein said at least one screen is in communication with the first camera set.

[0009] Application numbered "US2002005778A1" in the state of the art relates to collision prevention systems and especially to the detection of objects in various blind spots surrounding a truck or automobile and to warning or preventing the vehicle operator from making a movement such as changing lanes in cases where such a movement is possible. The system comprises light emitting means arranged on the vehicle to emit infrared light to the environment around the vehicle, a measurement means connected to the light emitting means and the receiver means to measure the time during which the infrared light is emitted by the light emitting means and the infrared light is received by the receiver. The light emitting means comprises a series of laser diodes. It comprises a processor connected to said receiver vehicle to enable the identification of the object to which the light is reflected. The processor uses model recognition methods and the modular neural network to identify the object to which the light is reflected.

[0010] As can be seen from the examples above, the current blind spot detection technologies are limited. Therefore, new methods are needed to protect vulnerable road users. The solution to this problem focuses on artificial intelligence, computer vision and advanced integrated vehicle systems. LIDAR technologies, high resolution cameras and advanced algorithms can also increase blind spot detection accuracy. These systems recognize walkers, cyclists, and motorcyclists according to their characteristics and visibility. However, applying current ideas to automobiles requires a lot of calculation and cost. In addition, an obstacle between the vehicle and the pedestrian or bicycle and the size of the vehicle make blind spot detection difficult in LIDAR systems.

[0011] Radar, GPS (Global Positioning System) and UWB (ultra-wideband) technologies are also used in localization and blind spot detection systems. In addition, methods commonly used in UWB- based positioning methods can use time of arrival (TOA), time differences of arrival (TDOA), two-way range (TWR), angle of arrival (AO A) and received signal strength indicator (RS SI) methods. As a result, due to the above-mentioned problems and the inadequacy of existing solutions, there is a need for a system that detects blind spots.

[0012] Brief Description and Objects of the Invention

[0013] The invention describes a system that detects blind spots in traffic and the method of operation of this system.

[0014] The object of the invention is to increase road safety and prevent traffic accidents by detecting blind spots in traffic for vulnerable road users such as pedestrians, cyclists, and motorcyclists. Another object of the invention is to provide low cost, low margin of error and easy access in blind spot detection systems. The invention uses wireless communication technologies such as ultra-wideband (UWB), Cellular (4G and later), Wi-Fi, Bluetooth in order to prevent traffic accidents and injuries and deaths caused by these accidents. Utilizing ultra-wideband (UWB) technology provides an advantage over other methods in terms of both cost and easy access. Ultra-wideband (UWB) provides not only cost and easy accessibility, but also a natural resistance to noise and multiple interference using the broadband network, thus allowing more data to be transmitted in a short range per unit time and reducing the margin of error in positioning.

[0015] Descriptions of the Figures

[0016] Figure 1 : Blind spot detection system of the invention.

[0017] Figure 2: Detailed representation of the blind spot detection system.

[0018] Figure 3: Flowchart for working method of the blind spot detection system.

[0019] I . Communication device

[0020] 10. Blind spot detection module

[0021] I I . Ultra- wideband kit

[0022] 12. Vehicle data communication network

[0023] 20. Control computer

[0024] 21. Calculation unit

[0025] 22. User interface k. Person b. Blind spot area h. Intersecting point of hyperbolas a. Vehicle s. Ultra-wideband signals 1001. Sending ultra-wideband signals (s) by the communication device (1) or any wireless communication signals that can be used for positioning provided through the communication device (1),

[0026] 1002. Receiving ultra-wideband signals (s) sent by the communication device (1) by the ultra-wideband kits (11),

[0027] 1003. Ultra-wideband kits (11) transmitting the information of the received ultra- wideband signals (s) to the vehicle data communication network (12),

[0028] 1004. Sending ultra-wideband signal (s) information from ultra-wideband kits (11) by the vehicle data communication network (12) to the control computer (20),

[0029] 1005. Performing mathematical calculations by using the information received by the control computer (20) by the calculation unit (21),

[0030] 1006. Transferring the results obtained by the calculation unit (21) to the user interface (22),

[0031] 1007. Visualizing the results by the user interface (22) and presenting them to the driver in the vehicle and querying whether the persons (k) with the communication device (1) are in the blind spot area (b),

[0032] 1008. Warning the driver (a) in the vehicle that they are the driver in the blind spot area (b)and / or warning the vulnerable traffic user using the communication device (1) that they are in the blind spot area (b) of the vehicle,

[0033] 1009. Safe detection of blind spot areas (b).

[0034] Detailed Description of the Invention

[0035] The invention relates to a system that detects blind spots in traffic and the method of operation of this system. In particular, the invention relates to a system and the method of operation of this system that increases road safety and prevents traffic accidents by detecting blind spots in traffic for vulnerable road persons (k) and those in transport (a) of vehicles (a) such as pedestrians, cyclists, and motorcyclists.

[0036] Said system comprises an ultra-wideband signal-supported communication device (1) that helps to determine whether persons (k) or vehicles (a) are in the blind spot area (b) by emitting an ultra-wideband signal (s) signal, a control computer (20) that manages the vehicle data communication network (12), the calculation unit (21) that calculates using ultra-wideband signal (s) information transmitted by the ultra-wideband kits (11) and the vehicle data communication network (12) via the vehicle data communication network (12), the calculation unit (21) and the user interface (22) that manages the calculation unit (21) and the user interface (22) that establishes the connection of the vehicle (k) or vehicles (a) within the blind spot area (b), the ultra-wideband kit (11) for sending and receiving ultra-wideband signal (s), the calculation unit (21) that calculates using the ultra-wideband signal (s) information transmitted by the ultra-wideband kits (11) via the vehicle data communication network (12) and the computer (20) that ensures whether the information transmitted by the person (k) is in the blind spot area (b) as a result of the calculations. The communication device (1) can be a smart watch, smart glasses, smart wristband, smart tags, mobile phone, tablet or tracking device (tag).

[0037] The invention uses ultra-wideband (UWB) technology in order to prevent traffic accidents and injuries and deaths caused by these accidents. Utilizing ultra-wideband (UWB) technology provides an advantage over other methods in terms of both cost and easy access. Ultra- wideband (UWB) transmits more data per unit time using the broadband network, not only cost and easy accessibility, thus reducing the margin of error.

[0038] In order to benefit from ultra-wideband (UWB) technology in said blind spot tracking system, ultra-wideband kits (11) and ultra-wideband supported communication device (1) are used. Ultra-wideband kits (11) are positioned in all kinds of land vehicles such as automobiles, vans, and the ultra-wideband supported communication device (1) is positioned in a vulnerable traffic user (person (s)) such as motorcycle, bicycle, or pedestrian, which may be in the blind spot area (b). In the invention, Qorvo DWM3001CDK modules are used as ultra-wideband kit (11), and each ultra-wideband kit (11) includes a combination of Nordic nRF52833 ARM Cortex-M4 MCU and DW3000 UWB module. In order to provide localization in the blind spot area (b) with the help of ultra-wideband kits (11), the time difference of arrival (TDOA) method is used. In the time difference of arrival (TDOA) method, the differences between the arrival times of the ultra-wideband signal (s) sent to the ultra-wideband kits (11) are used to determine the position of the communication device (1). The positions of the ultra-wideband kits (11) and the communication device (1) cause these arrival time differences. If the time difference of the transmission between the ultra-wideband (11) and the communication device (1) is known and the speed of the ultra-wideband signal s is known, it is possible to calculate the position of the communication device (1) using the time difference of arrival (TDOA) method. The speed of the ultra- wideband signal (s) is generally accepted as the speed of light. The time difference of arrival uses the time differences of arrival to determine the possible positions of the communication device (1) on a hyperbolic curve. The time differences when the ultra-wideband kits (11) receive the signal form a hyperbolic curve depending on the distances between the ultra-wideband pairs (11) and the communication device (1).

[0039] In order to accurately calculate the position using curves, the least squares method (LSM) is used. The least squares method analyzes mathematical data to reduce the complexity of position calculation, thus providing ease of operation and reducing the margin of error.

[0040] The working method of the blind spot detection system developed by the invention is as follows:

[0041] 1001. Sending ultra-wideband signals (s) by the communication device (1) or any wireless communication signals that can be used for positioning provided through the communication device (1),

[0042] 1002. Receiving ultra-wideband signals (s) sent by the communication device (1) by the ultra-wideband kits (11),

[0043] 1003. Ultra-wideband kits (11) transmitting the information of the received ultra- wideband signals (s) to the vehicle data communication network (12),

[0044] 1004. Sending ultra-wideband signal (s) information from ultra-wideband kits (11) by the vehicle data communication network (12) to the control computer (20),

[0045] 1005. Making mathematical calculations by using the information received by the control computer (20) by the calculation unit (21),

[0046] 1006. Transferring the results obtained by the calculation unit (21) to the user interface (22),

[0047] 1007. Visualizing the results by the user interface (22) and presenting them to the driver in the vehicle and querying whether the persons (k) with the communication device (1) are in the blind spot area (b),

[0048] 1008. Warning the driver in the vehicle that there is a driver in the blind spot area (b) and / or warning the vulnerable traffic user using the communication device (1) that the vehicle (a) is in the blind spot area (b) (1008),

[0049] 1009. Safe detection of blind spot areas (b).

[0050] As can be seen from the above process steps, firstly, ultra-wideband signals (s) are sent by the communication device (1) or any wireless communication signal that can be used for positioning through the communication device (1) (1001). The sent signals are received (1002) by the ultra-wideband kits (11) positioned in the vehicle and thus the signals sent by the communication device (1) reach the blind spot detection module (10). The time of arrival of the ultra-wideband signals (1003) reaching the ultra-wideband kits (11) in the blind spot detection module (10) is transmitted to the control computer (20) through the vehicle data communication network (12) (1004). This transmission takes place thanks to the wired connection between the ultra-wideband kits (11) and the vehicle data communication network (12).

[0051] Then, the control computer (20) performs mathematical calculations (1005) by using the information received by the calculation unit (21).

[0052] An approximate solution of the equations in the TDOA (arrival time difference) method is calculated to understand whether the vehicle is in the blind spot area (b). For example, the equation for the time difference between the 1st and 2nd sensor is as follows:

[0053] Here, c indicates the speed of light, while refers to the position of the sending device. Finally, the location of shows the 1st sensor. This equation can also be specified as follows:

[0054] To make this equation an optimization, the equation can be written as follows:

[0055] By using the transportation time of the signal coming to the 4 detection points on the vehicle (t), the following optimization problem is extracted by the calculation unit (21) according to the differences between the detection time of these 4 points:

[0056] The optimization problem above is solved by the least squares method (Trust-Region- Reflective Least Squares (TRRLS)), and the position as a result of this solution (shows the approximate position of the" * "* vehicle (t). In addition, the value of the solution found is used to measure the trust in this solution. The following shows the comparison of UWB (used in the invention), LIDAR and Radar measurements.

[0057] Table 1 : Comparison of UWB, LIDAR and Radar measurements

[0058] As can be seen, the control computer (20) first transmits the obtained data to the calculation unit (21). The calculation unit (21) tries to determine the position of the communication device (1) that sends ultra-wideband signals using the transmitted data. The calculation unit (21) obtains the hyperbolic equations of the arrival times from each communication device (1). The obtained and non-linear hyperbola equations are first made linear. In the next step, the linearized equations are expressed as a matrix. The equations expressed as matrices are solved with the help of the linear equation system.

[0059] The resulting solution and positioning is sent to the user interface (22) (1006). Then, the user interface (22) visualizes the results and presents them to the driver in the vehicle and queries (1007) whether the persons (k) with the communication device (1) are in the blind spot area (b). As can be seen, the user interface (22) visualizes the result in real time. The image in the interface is not constant because the continuous signal data and the result change. This change is caused by the fact that the position of the communication device (1) of the person (k) or the person (a) in the vehicle can change every second. In addition, due to the fast high data transmission of the ultra-wideband technology, the measurement can be carried out precisely. As a result of localization and blind spot detection, the ultra-wideband supported communication device (1) warns the driver (a) in the vehicle that the driver is in the blind spot area (b) and / or warns the vulnerable traffic user using the communication device (1) that the vehicle (a) is in the blind spot area (b) (1008). If there is no person (k) or vehicle (a) that will pose a danger in the blind spot area (b), the control computer (20) marks the relevant positions as safe. In this way, blind spots are detected safely (1009).

Claims

CLAIMS1. A system for detecting blind spots in traffic, characterized in comprising,• A communication device (1) emitting an ultra-wideband signal (s) to determine whether a person (k) or a vehicle (a) is in the blind spot area (b),• A blind spot detection module (10) positioned in the vehicle and having ultra- wideband kits (11) and vehicle data communication network (12), structured to transmit signal information to control computer (20) for detecting person (k) or vehicle (a)• A calculation unit (21) structured to perform calculations using ultra-wideband signal (s) information transmitted by ultra-wideband kits (11) through vehicle data communication network (12) and based the calculations, ensures whether the person or vehicle is in the blind spot zone (b).

2. A system according to claim 1, characterized in that said ultra-wideband kit (11) structured to sending and receiving an ultra-wideband signal (s).

3. A system according to claim 1, characterized in that said vehicle data communication network (12) structured to establish connection of ultra-wideband kits (11) and the control computer (20).

4. A system according to claim 1, characterized in that said control computer (20) structured to manage the calculation unit (21) and a user interface (22).

5. A system according to claim 4, characterized in that said user interface (22) structured to display information transmitted by the calculation unit (21) to other persons (k) or those in the vehicle (a) through the control computer (20).

6. A system according to claim 1, characterized in that said communication device (1) is a smart watch, smart glasses, smart wristband, smart tags, mobile phone, tablet or tracking device.

7. A method of operating the blind spot detection system according to claim 1, characterized in comprising steps of• Transmission (1001) by the communication device (1) of ultra-wideband signals (s) or any wireless communication signals for positioning provided via the communication device (1).• Receiving ultra-wideband signals (s) sent by the communication device (1) by ultra-wideband kits (11) (1002),• Transmitting the information of the received ultra-wideband signals (s) to the vehicle data communication network (12) (1003) by Ultra-wideband kits (11)• Sending ultra-wideband signal (s) information from ultra- wideband kits (11) by the vehicle data communication network (12) to the control computer (20) (1004),• Performing mathematical calculations by using information received by the control computer (20) via calculation unit (21) (1005),• Transferring results obtained by the calculation unit (21) to user interface (22) (1006),• Visualizing the results by the user interface (22) and presenting them to the driver of vehicle and querying whether persons (k) with the communication device (1) are in the blind spot area (b) (1007),• Warning the driver of vehicle (a) that there is a driver in the blind spot area (b) and / or warning the vulnerable traffic user using the communication device (1) that vehicle (a) is in the blind spot area (b) (1008),• Safe detection of blind spot areas (b) (1009).

8. A method of operation of the system for blind spot detection according to claim 7, characterized in that, in the process step (1005) of performing mathematical calculations by using the information received by the control computer (20) by the calculation unit (21), the calculation unit (21) performs the process of calculating the approximate position of the vehicle (t) using the following equation:

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