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CN118991811B - Blind spot obstacle warning methods, systems, vehicles and storage media - Google Patents

Blind spot obstacle warning methods, systems, vehicles and storage media

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Publication number
CN118991811B
CN118991811B CN202411123426.6A CN202411123426A CN118991811B CN 118991811 B CN118991811 B CN 118991811B CN 202411123426 A CN202411123426 A CN 202411123426A CN 118991811 B CN118991811 B CN 118991811B
Authority
CN
China
Prior art keywords
obstacle
vehicle
early warning
preset value
blind area
Prior art date
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Active
Application number
CN202411123426.6A
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Chinese (zh)
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CN118991811A (en
Inventor
周同坤
张强
夏勇
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Chery Automobile Co Ltd
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Chery Automobile Co Ltd
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Application filed by Chery Automobile Co Ltd filed Critical Chery Automobile Co Ltd
Priority to CN202411123426.6A priority Critical patent/CN118991811B/en
Publication of CN118991811A publication Critical patent/CN118991811A/en
Application granted granted Critical
Publication of CN118991811B publication Critical patent/CN118991811B/en
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Anticipated expiration legal-status Critical

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B60Q1/503—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking using luminous text or symbol displays in or on the vehicle, e.g. static text
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q5/00—Arrangement or adaptation of acoustic signal devices
    • B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Traffic Control Systems (AREA)

Abstract

本申请涉及车辆技术领域，特别涉及一种盲区障碍物预警方法、系统、车辆及存储介质，其中，方法包括：监测本车周围的盲区图像；识别盲区图像中是否存在障碍物；若存在障碍物，则基于障碍物与本车的距离对本车的驾驶员和/或障碍物进行预警。由此，解决了相关技术中对于盲区的障碍物监测准确度较低，导致行车安全性较低等问题。

This application relates to the field of vehicle technology, and in particular to a blind spot obstacle warning method, system, vehicle, and storage medium. The method includes: monitoring blind spot images around the vehicle; identifying whether obstacles exist in the blind spot images; and if obstacles exist, issuing a warning to the driver and/or the obstacle based on the distance between the obstacle and the vehicle. This solves the problems of low accuracy in blind spot obstacle detection in related technologies, leading to lower driving safety.

Description

Blind area obstacle early warning method, system, vehicle and storage medium
Technical Field
The application relates to the technical field of vehicles, in particular to a blind area obstacle early warning method, a blind area obstacle early warning system, a vehicle and a storage medium.
Background
Due to the limitations of the structure of the vehicle itself, there is a problem of a lateral rear vision blind area, especially when the driver is traveling at a high speed, the line of sight is mainly focused in the front. The travel locus of the rear-view side vehicle is often noticed depending on the rear-view mirror or the whistle of the rear-view vehicle. However, due to the limited field of view of the rear view mirror, a blind field of view still exists, which may lead to potential safety hazards, especially when other factors block the rear vehicle or the driver fails to concentrate on looking sideways behind.
In the related art, radar, a camera, an ultrasonic technology and the like are mainly adopted for blind area detection so as to reduce the traffic safety problem caused by the blind area problem, but in the related art, single means are mainly adopted for blind area detection, so that the accuracy of blind area obstacle monitoring is lower.
Disclosure of Invention
The application provides a blind area obstacle early warning method, a blind area obstacle early warning system, a vehicle and a storage medium, and aims to solve the problems of low driving safety and the like caused by low obstacle monitoring accuracy of a blind area in the related technology.
An embodiment of a first aspect of the application provides a blind area obstacle early warning method, which comprises the following steps of monitoring blind area images around a host vehicle, identifying whether an obstacle exists in the blind area images, and if the obstacle exists, carrying out early warning on a driver and/or an obstacle of the host vehicle based on the distance between the obstacle and the host vehicle.
Optionally, in one embodiment of the application, the early warning of the driver and/or the obstacle of the host vehicle is performed based on the distance between the obstacle and the host vehicle, and the early warning method comprises the steps of determining an early warning level based on the distance between the obstacle and the host vehicle and performing the early warning of the driver and/or the obstacle of the host vehicle based on the early warning level.
Optionally, in one embodiment of the application, the early warning level is determined based on the distance between the obstacle and the vehicle, and the early warning level comprises a first early warning level if the distance is greater than a first preset value and less than or equal to a second preset value, a second early warning level if the distance is greater than a third preset value and less than or equal to the first preset value, and a third early warning level if the distance is less than or equal to the third preset value, wherein the third preset value is less than the first preset value, and the first preset value is less than the second preset value.
Optionally, in one embodiment of the application, the early warning mode comprises at least one of displaying an obstacle image, a text and/or graphic warning, a voice warning, a sound warning, a light warning and a steering wheel vibration warning, and early warning is carried out on a driver and/or an obstacle of the vehicle based on the early warning level, wherein the early warning mode comprises the steps of displaying the obstacle image and carrying out the voice warning and the light warning on the driver and carrying out the text and/or the graphic warning on the obstacle if the first early warning level is adopted, and the step of displaying the obstacle image and carrying out the voice warning, the light warning and the steering wheel vibration warning on the driver if the second early warning level or the third early warning level is adopted, and carrying out the text and/or the graphic warning, the sound warning and the light warning on the obstacle.
Optionally, in one embodiment of the application, after the driver and/or the obstacle of the host vehicle is pre-warned based on the distance between the obstacle and the host vehicle, the method further comprises the steps of identifying the driving intention of the driver if the vehicle is at the third pre-warning level, and adjusting the steering moment of the host vehicle based on the driving intention to adjust the movement track of the host vehicle to avoid the obstacle.
Optionally, in one embodiment of the application, the driving intention comprises lane keeping, lane changing left, lane changing right and emergency avoidance, the steering moment of the vehicle is adjusted based on the driving intention, the steering moment is adjusted according to the driving intention, the change rate of the steering moment is adjusted if the driving intention is lane keeping, the steering moment is linearly increased to a saturated state if the driving intention is lane changing left or lane changing right, and the steering moment is directly adjusted to the saturated state if the driving intention is emergency avoidance.
Optionally, in one embodiment of the present application, the steering torque is calculated as:
τguide=f(Δθ);
Where τ guide is the steering torque guide, Δθ is the difference between the actual steering wheel angle θ real and the target steering wheel angle θ target, Δθ=θ real-θtarget, K is a guiding moment peak value coefficient, a is a corner linear difference curvature, and b is a corner difference linear compensation.
The blind area obstacle early warning system comprises a monitoring subsystem, an information display subsystem, an image display subsystem, a steering wheel control subsystem, an acousto-optic feedback subsystem, a steering moment guiding subsystem and a controller, wherein the monitoring subsystem is used for monitoring blind areas around a host vehicle and acquiring the distance between an obstacle and the host vehicle, the information display subsystem is used for displaying an obstacle image in the blind area image, the image display subsystem is used for carrying out text and/or graphic reminding on the obstacle, the steering wheel control subsystem is used for carrying out voice reminding, lamplight reminding and steering wheel vibration reminding on a driver of the host vehicle, the acousto-optic feedback subsystem is used for carrying out voice reminding and lamplight reminding on the obstacle, the steering moment guiding subsystem is used for identifying the driving intention of the driver and adjusting the steering moment of the host vehicle based on the driving intention, and the controller is used for controlling the monitoring subsystem to carry out early warning based on at least one of the distance control information subsystem, the image display subsystem, the steering wheel control subsystem and the acousto-optic feedback subsystem and controlling the steering moment of the host vehicle.
An embodiment of a third aspect of the present application provides a vehicle, including the blind area obstacle early warning system of the above embodiment.
An embodiment of a fourth aspect of the present application provides a computer-readable storage medium having stored thereon a computer program or instructions that are executed by a processor to perform the blind area obstacle warning method as in the above-described embodiment.
Therefore, the application has at least the following beneficial effects:
The method and the device can monitor the blind area images around the vehicle, and when the obstacles exist in the blind area images, the driver and the obstacles are early warned based on the distance between the vehicle and the obstacles, so that the accuracy of obstacle monitoring is improved, the driving safety is improved, and the potential danger caused by the blind area is effectively reduced. Therefore, the technical problems of lower obstacle detection accuracy of blind areas, lower driving safety and the like in the related art are solved.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a schematic diagram of classification of a blind zone of a vehicle;
FIG. 2 is a schematic illustration of a blind spot of a vehicle;
fig. 3 is a flowchart of a blind area obstacle early warning method according to an embodiment of the application;
fig. 4 is a schematic diagram of a blind area obstacle early warning system according to an embodiment of the application;
FIG. 5 is a display diagram of vehicle hardware and visualization scope provided according to an embodiment of the present application;
FIG. 6 is a flow chart of selection of an obstacle owner goal provided in accordance with an embodiment of the application;
FIG. 7 is a flowchart of the system for pre-warning blind obstacles, according to an embodiment of the present application;
FIG. 8 is a flowchart of an early warning level based system implementation provided according to an embodiment of the present application;
FIG. 9 is a flow chart of image preprocessing provided according to an embodiment of the present application;
Fig. 10 is a schematic diagram of a road head custom expression and text provided according to an embodiment of the present application;
FIG. 11 is a block diagram of an information display subsystem provided in accordance with an embodiment of the present application;
Fig. 12 is an operation schematic diagram of an information display subsystem according to an embodiment of the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.
Before describing the scheme of the application, the blind area of the vehicle is introduced so as to facilitate the follow-up understanding of the scheme of the application.
Due to the limitations of the structure of the vehicle itself, there is a problem of a lateral rear vision blind area, especially when the driver is traveling at a high speed, the line of sight is mainly focused in the front. The travel locus of the rear-view side vehicle is often noticed depending on the rear-view mirror or the whistle of the rear-view vehicle. However, due to the limited field of view of the rear view mirror, blind areas of view still exist, which may lead to potential safety hazards, especially when other factors block the rear vehicle or the driver fails to concentrate on looking sideways behind, as shown in fig. 1. As the popularity of automobiles increases, investigation shows that side rear-end collisions and collisions caused by the blind areas of the left and right rear-view mirrors account for 30.5% of the total number of traffic accidents, and the blind areas are shown in fig. 2. Side rear end collision accidents are often caused by lane changes due to the driver failing to perceive a rear-end overtaking situation. Therefore, in order to ensure the driving safety, not only the safety auxiliary equipment is needed to widen the side rear view, avoid the generation of visual blind areas, but also the equipment is needed to be relied on to provide road condition reminding and even danger early warning reminding for the driver. Research shows that if a driver can respond to dangerous situations in advance by 1-2 seconds, 90% of traffic accidents can be avoided.
The following describes a blind area obstacle early warning method, a blind area obstacle early warning system, a vehicle and a storage medium according to an embodiment of the application with reference to the accompanying drawings. Aiming at the problem that the blind area detection is mainly carried out by adopting a single means at present, so that the accuracy of monitoring the blind area obstacle is lower, the application provides a blind area obstacle early warning method, in the method, the blind area image around the vehicle can be monitored, and when the obstacle exists in the blind area image, the driver and the obstacle are early warned based on the distance between the vehicle and the obstacle, so that the accuracy of monitoring the obstacle is improved. Therefore, the problems of lower obstacle monitoring accuracy of blind areas, lower driving safety and the like in the related art are solved.
Specifically, fig. 3 is a schematic flow chart of a blind area obstacle early warning method according to an embodiment of the present application.
As shown in fig. 3, the blind area obstacle early warning method includes the following steps:
in step S101, blind area images around the host vehicle are monitored.
In order to monitor the blind area image around the vehicle, the laser radar can be additionally arranged on the vehicle, specifically, 1 RS-Ruby laser radar is arranged on the vehicle roof, 4 blind compensation laser radars are arranged on the vehicle body, the visible range of the image is maximized, and the blind area around the vehicle body is avoided.
In step S102, it is recognized whether an obstacle exists in the blind area image.
Wherein the obstacle includes pedestrians, vehicles, objects, etc.
It can be appreciated that the embodiment of the application can identify whether the blind area image has an obstacle or not so as to perform early warning later.
In step S103, if an obstacle is present, the driver of the host vehicle and/or the obstacle is/are warned based on the distance between the obstacle and the host vehicle.
It can be understood that when the obstacle exists in the blind area image, the embodiment of the application can early warn the driver and the obstacle of the vehicle based on the distance between the obstacle and the vehicle so as to ensure the driving safety and effectively reduce the potential danger caused by the blind area.
In the embodiment of the application, the early warning is carried out on the driver and/or the obstacle of the vehicle based on the distance between the obstacle and the vehicle, and the early warning is carried out on the driver and/or the obstacle of the vehicle based on the early warning level.
It can be appreciated that the embodiment of the application can determine the early warning level based on the distance between the obstacle and the vehicle and early warn the driver and the obstacle of the vehicle based on the early warning level.
The method and the device for determining the early warning level based on the distance between the obstacle and the vehicle comprise the steps of determining the first early warning level if the distance is larger than a first preset value and smaller than or equal to a second preset value, determining the second early warning level if the distance is larger than a third preset value and smaller than or equal to the first preset value, and determining the third early warning level if the distance is smaller than or equal to the third preset value, wherein the third preset value is smaller than the first preset value, and the first preset value is smaller than the second preset value.
The first preset value, the second preset value and the third preset value can be set according to specific conditions, the specific limitation is not made, the third preset value is smaller than the first preset value, the first preset value is smaller than the second preset value, for example, the first preset value can be set to 60cm, the second preset value can be set to 100cm, and the third preset value can be set to 30cm.
It can be appreciated that the pre-warning level may be determined according to the distance, for example, taking the first preset value of 60cm, the second preset value of 100cm, the third preset value of 30cm as an example,
If the distance is more than 60cm and less than or equal to 100cm, the first warning grade is the first warning grade;
if the distance is more than or equal to 30cm and less than or equal to 60cm, the first warning grade is the second warning grade;
if the distance is less than 30cm, the third early warning level is obtained.
In the embodiment of the application, the early warning mode comprises at least one of displaying obstacle images, text and/or graphic reminders, voice reminders, sound reminders, lamplight reminders and steering wheel vibration reminders.
The text and the image can be set in advance according to the condition of the user, the text and the image can be displayed when the early warning occurs, and the voice prompt or the sound prompt can also be set for the user to record in advance or the default prompt of the original system so as to provide more intelligent and emotional interaction experience and ensure the personal safety of drivers and pedestrians.
The method and the device for warning the driver and/or the obstacle of the vehicle based on the warning level comprise the steps of displaying an obstacle image and carrying out voice warning and lamplight warning on the driver and carrying out text and/or graphic warning on the obstacle if the vehicle is in the first warning level, and displaying the obstacle image and carrying out voice warning, lamplight warning and steering wheel vibration warning on the driver if the vehicle is in the second warning level or the third warning level, and carrying out text and/or graphic warning, voice warning and lamplight warning on the obstacle.
It can be understood that the embodiment of the application can determine how to remind the driver and the obstacle according to different early warning grades, and the method specifically comprises the following steps:
If the first warning level is the first warning level, displaying an obstacle image on a driver, and carrying out voice prompt and lamplight prompt, for example, the obstacle image can be displayed on a HUD (Head-Up Display system), the voice prompt can be a 'please notice blind area', the first warning level is started, a lamp strip in a vehicle can flash, character and graphic prompt can be carried out on the obstacle, and the characters and the graphics can be projected at the position of the obstacle;
If the warning device is in the second warning level or the third warning level, the driver is displayed with an obstacle image and is subjected to voice prompt, lamplight prompt and steering wheel vibration prompt, and the obstacle is subjected to text, graphic prompt, sound prompt and lamplight prompt, for example, the sound prompt can give out an alarm for a vehicle, and lamps on two sides of the vehicle or lamps on the rear side of the vehicle can flash.
It should be noted that, in the embodiment of the present application, the mode of early warning the obstacle may be determined according to the type of the obstacle, for example, the text and/or graphic alert may be only for pedestrians or pedestrians who ride vehicles such as bicycles and electric vehicles, the sound alert and the light alert may be for pedestrians, pedestrians who ride vehicles such as bicycles and electric vehicles, other small living things, or other vehicles that are traveling, and for other fixed obstacles, such as pillars, fences, etc., the early warning is not required.
In the embodiment of the application, after the driver and/or the obstacle of the vehicle are/is pre-warned based on the distance between the obstacle and the vehicle, the method further comprises the steps of identifying the driving intention of the driver if the vehicle is at the third pre-warning level, and adjusting the steering moment of the vehicle based on the driving intention so as to adjust the movement track of the vehicle to avoid the obstacle.
The driving intention comprises lane keeping, left lane changing, right lane changing and emergency avoidance.
It can be understood that when the early warning level is the third early warning level, that is, the dangerous condition, the embodiment of the application can identify the driving intention of the driver, and adjust the steering example sentence of the vehicle based on the driving intention so as to adjust the motion track of the vehicle, thereby achieving the purpose of safely avoiding the obstacle.
In the embodiment of the application, the steering torque of the vehicle is adjusted based on the driving intention, wherein the method comprises the steps of adjusting the change rate of the steering torque if the driving intention is lane keeping, linearly increasing the steering torque to a saturated state if the driving intention is left lane change or right lane change, and directly adjusting the steering torque to the saturated state if the driving intention is emergency avoidance.
The calculation formula of the steering torque is as follows:
τguide=f(Δθ);
Where τ guide is the steering torque guide, Δθ is the difference between the actual steering wheel angle θ real and the target steering wheel angle θ target, Δθ=θ real-θtarget, K is a guiding moment peak value coefficient, a is a corner linear difference curvature, and b is a corner difference linear compensation.
It can be understood that the embodiment of the application can adjust the change rate of the steering torque when the driving intention is lane keeping, linearly increase the steering torque to a saturated state when the driving intention is left lane change or right lane change, and directly adjust the steering torque to the saturated state when the driving intention is emergency avoidance.
According to the blind area obstacle early warning method provided by the embodiment of the application, the blind area images around the vehicle can be monitored, and when the obstacles in the blind area images are identified, the driver and the obstacles are early warned based on the distance between the vehicle and the obstacles, so that the accuracy of obstacle monitoring is improved, the driving safety is improved, and the potential danger caused by the blind area is effectively reduced.
The blind area obstacle early warning system according to the embodiment of the application is described with reference to the accompanying drawings.
Fig. 4 is a schematic diagram of a blind area obstacle early warning system according to an embodiment of the application.
As shown in fig. 4, the blind area obstacle early warning system 10 comprises a monitoring subsystem 11, an information display subsystem 12, an image display subsystem 13, a steering wheel control subsystem 14, an acousto-optic feedback subsystem 15, a steering torque guiding subsystem 16 and a controller 17.
The system comprises a monitoring subsystem 11, an information display subsystem 12, an image display subsystem 13, a steering wheel control subsystem 14, an acousto-optic feedback subsystem 15, a steering torque guiding subsystem 16 and a controller 17, wherein the monitoring subsystem is used for monitoring blind areas around a host vehicle and acquiring the distance between an obstacle and the host vehicle, the information display subsystem 12 is used for displaying an obstacle image in the blind area image, the image display subsystem 13 is used for carrying out text and/or graphic reminding on the obstacle, the steering wheel control subsystem 14 is used for carrying out voice reminding, lamplight reminding and steering wheel vibration reminding on a driver of the host vehicle, the acousto-optic feedback subsystem 15 is used for carrying out voice reminding and lamplight reminding on the obstacle, the steering torque guiding subsystem 16 is used for identifying the driving intention of the driver and adjusting the steering torque of the host vehicle based on the driving intention, and the controller 17 is used for controlling the monitoring subsystem 11 to carry out monitoring, carrying out early warning based on at least one of the distance control information subsystem 12, the image display subsystem 13, the steering wheel control subsystem 14 and the acousto-optic feedback subsystem 15.
It can be understood that the blind area obstacle early warning system 10 according to the embodiment of the present application includes a plurality of subsystems, which are respectively used for executing different functions, and the controller is used for controlling the plurality of subsystems to work, so as to implement early warning for the blind area obstacle and improve driving safety.
Specifically, the blind area obstacle warning system of the present application includes:
1. Vehicle blind zone detection subsystem (equivalent to the monitoring subsystem)
Firstly, collecting the speed and acceleration of a vehicle by adding 1 main laser radar (RS-Ruby) and 420 Hz short-distance blind-supplementing laser radars (RS-Bpearl), transmitting data to a central control data processor through wireless communication equipment to analyze the safety distance between the current vehicle and pedestrians in the dead zone of the vehicle, uploading the analyzed target pedestrian running speed and the safety distance to a safety route early warning module, and planning a route according to the calculation result.
The vehicle is provided with an automobile angle sensor, so that the emergency steering stability of the vehicle under an emergency condition is maintained, and meanwhile, the sight angles of the vehicle and pedestrians are monitored, so that the pedestrians can see the image display under different angles.
The vehicle is provided with a temperature sensor, whether organisms exist outside the vehicle or not is monitored by utilizing an infrared technology, whether the organisms exist in a blind area range or not is determined, and an alarm is given if the surface temperature is detected.
The vehicle is provided with a visibility sensor, and when the vehicle encounters heavy fog and thunderstorm weather, the visibility of the outside environment of the vehicle is detected, and the HUD display brightness and color in the vehicle and the display brightness outside the vehicle are adjusted according to the brightness.
2. AR-HUD (Augmented REALITY HEAD Up Display, front Window Augmented reality head-Up Display) information Display subsystem
The AR-HUD is a visual assistance device for a vehicle, which superimposes information such as a bluetooth phone, an ADAS (ADVANCED DRIVER ASSISTANCE SYSTEM, advanced driving assistance system), a navigation state, and the surrounding environment, etc., using an augmented reality technology, and displays the superimposed information in the visual field of a driver, and a pillar a blind area is a main cause of an accident of 80% now, and captures the face of the driver by additionally installing two cameras on the vehicle a pillar, analyzes the face orientation and the line of sight height, recognizes the blind area range, and displays a blind area screen on a windshield in real time, so that the driver can perceive a blind area obstacle in advance and perform behavior feedback.
3. Image display subsystem
When the dead zone vehicles or pedestrians reach collision early warning conditions, the driver can display image or text content in a self-defined mode, information is projected and displayed to the dead zone of the vehicle to remind the pedestrians outside the vehicle to avoid, the graph can change in real time according to the motion trail of the vehicle and the pedestrians, and animation effects and colors are displayed according to the personalized self-definition.
4. Steering wheel control subsystem
The steering wheel is more intelligent, and functions such as voice, lamp area flickering and vibration reminding are integrated. Through installing steering wheel angle sensor and combining front wheel deflection angle analysis driver's driving intention, when the system detects that vehicle and blind area pedestrian and vehicle are in the warning distance, the pronunciation can be according to blind area position warning "please note A post blind area environment, slows down slowly," and the lamp area subregion is left and right sides overall arrangement, carries out left turn or right turn warning according to driver's intention, adjusts according to warning level flicker frequency, and secondly warning steering wheel vibration intensity also follows the lamp area and changes.
5. Acousto-optic feedback subsystem
The vehicle is provided with a voice buzzer and a matrix lamp on two sides of the main and auxiliary vehicle bodies, and when the vehicle and pedestrians are detected to exist in the blind area, acousto-optic bidirectional early warning and behavior guiding are carried out. The sound and the frequency can also be used for adaptively adjusting the alarm level and matching with the rearview mirror stroboscopic lamp, so that compared with a traditional alarm device, the device has the advantages of quicker photoelectric form, more obvious characteristics and stronger guiding and early warning performance.
6. Steering torque guiding subsystem
The steering wheel angle sensor monitors the speed, the course angle and the vehicle body inclination angle data at any time, the steering angle proportion between the steering angle and the front wheel, namely the steering force guiding size, is actively adjusted according to the driving intention and the safety distance of a driver, when the driver intends to steer left and right, the corresponding moment is linearly increased to gradually reach a saturated state, when the driver intends to avoid emergency, the moment directly reaches a saturated stage, the stability of the vehicle body is ensured by matching the course angle and the vehicle body inclination angle, and the movement track of the vehicle is changed according to the adjustment of the moment so as to achieve the aim of avoiding obstacle safely.
It should be noted that the foregoing explanation of the embodiment of the method for pre-warning a blind area obstacle is also applicable to the blind area obstacle pre-warning system of this embodiment, and will not be repeated here.
According to the blind area obstacle early warning system provided by the embodiment of the application, the blind area images around the vehicle can be monitored, a plurality of subsystems of the blind area obstacle early warning system are controlled to work, obstacle early warning is carried out in a plurality of modes, the driving safety is improved, and the potential danger caused by the blind area is effectively reduced.
The implementation process of the blind area obstacle early warning according to the embodiment of the application will be described by a specific embodiment, and the specific implementation process will be described in conjunction with a blind area obstacle early warning system.
Firstly, a vehicle-mounted hardware and a visual range display diagram related to the method for realizing the blind area obstacle early warning are described, and the diagram is shown in fig. 5.
At present, the vehicle body is limited by a vertical field angle (FOV) of a laser radar (hereinafter, the FOV is abbreviated as FOV) monitoring range and a top mounting mode, the vertical FOV has a 25-degree visual angle range and is fan-shaped, the horizontal FOV has a 360-degree visual angle range, and is normally arranged on the vehicle roof, the common vehicle-mounted semi-solid laser radar can reach a 120-degree range, but a perception blind area which is difficult to monitor appears around the horizontal vehicle body due to limitation, and a plurality of non-monitored Corner cases are hidden in the area, so that the vehicle-mounted semi-solid laser radar is a direction to be considered and solved mainly.
The RS-Ruby adopts a mixed solid-state laser radar mode, the measurement distance can reach 250 meters, the measurement accuracy is as high as +/-3cm, the horizontal angle measurement is 360 degrees, and the vertical angle measurement is-25-15 degrees. The RS-Ruby continuously scans the external environment by transmitting high-frequency laser beams while rapidly rotating through 128 laser transmitters, provides three-dimensional space point cloud coordinates and object reflection intensity through a ranging algorithm, and provides powerful guarantee for positioning, navigation, obstacle avoidance and the like.
RS-Bpearl is the blind laser radar of mending in short distance of special sweep near field blind area, can detect the object in several centimetres, is close 360 degrees x 90 degrees ultra wide angle of view, can effectively monitor the blind area scope of automobile body, effectively solves through narrow lane, intensive traffic parallel, pedestrian or pet press close to Corner Case such as automobile body.
By arranging 1 RS-Ruby laser radar on the roof, 4 blind-complement laser radars are arranged on the vehicle body, the visible range of the view is maximized, and the blind area of the view around the vehicle body is avoided.
The automobile rearview mirror is provided with two A-pillar cameras for mainly monitoring the range of blind areas outside an A-pillar automobile, under complex weather such as rainy and foggy weather, the cameras can capture peripheral real-time conditions through an image acquisition technology, a driver is assisted in observing the conditions of blind area roads and identifying pedestrians and vehicles, and when the distance is smaller than a safe distance, the blind area conditions are projected to a HUD for displaying, and obstacle reminding is carried out.
The automobile body is equipped with visibility sensor, in time discovers bad weather condition, including visibility, temperature, humidity, automatically regulated HUD shows luminance to detect the distance and the size of barrier, can measure the safe distance of road, barrier and other objects, and through car machine voice broadcast suggestion early warning.
The automobile body is equipped with temperature sensor, can the temperature change condition of perception surrounding environment to with temperature signal conversion electric signal and send the control system of vehicle, the mounted position is front portion and lateral part in general, with the outside pedestrian condition feedback to the vehicle, thereby arouse early warning system and feed back.
The automobile body is equipped with the angle sensor, is used for detecting the rotation angle, the rotation direction and the device of steering speed of steering wheel, thereby let the automobile can automatic condition moment of torsion under tertiary alarm state and initiatively brake when the automobile loses steadily to change the motion track and keep safe distance with the barrier, thereby ensure the security of driving.
It should be noted that, because there may be multiple blind area obstacles, one of the multiple blind area obstacles may be selected as a main target in the embodiment of the present application, mainly by continuously verifying the safety distance between the obstacle and the vehicle, and after the verification reaches the preset number of times and the distance verification passes, the distance verification is used as the main target, and a specific flow is shown in fig. 6.
The workflow of the blind area obstacle early warning system is shown in fig. 7, and the information is fed back to the data processor through the hardware equipment to calculate the safety distance, so that other residual subsystems can be triggered, and the triggering conditions are as follows:
1. When the safety distance between the vehicle and the blind area obstacle is 50-60 cm, primary early warning reminding is carried out, an AR information display subsystem is triggered, the HUD displays obstacle image information, and the image display subsystem carries out graphic or character reminding according to the user definition of the vehicle owner.
2. When the safety distance between the vehicle and the blind area obstacle is 30-50 cm, secondary early warning reminding is carried out, the AR information display subsystem, the image display subsystem, the steering wheel control subsystem and the acousto-optic feedback subsystem are triggered to remind the vehicle outside person through the buzzer, and the in-vehicle atmosphere lamp carries out light beam stroboscopic reminding.
3. When the safety distance between the vehicle and the blind area obstacle is less than or equal to 30cm, three-level early warning reminding is carried out, an AR-HUD information display subsystem, an image display subsystem and a steering wheel are triggered, three-level early warning reminding is carried out, all subsystems are triggered, wherein the steering torque guiding subsystem carries out slight, linear moderate increase and heavy torque adjustment according to the collision time and angle, and the driving direction and angle are guided so as to avoid collision.
The voice feedback unit is used for collecting attention information of a user through the A-column camera and broadcasting and early warning according to the safety distance analyzed by the data processor. For example, the driver monitors that an obstacle exists in a blind area in the driving process and is not in a safe distance, the vehicle machine firstly obtains the gazing range and semantic information of the user, generates a broadcasting early warning instruction after analysis, reminds "please pay attention to the left A column blind area, and starts primary early warning".
Two kinds of laser radars, sensors, A-pillar cameras and other hardware are installed for monitoring, when the primary alarm condition is met, the AR-HUD can display and remind on a windshield, and main information comprises vehicle basic state information, auxiliary driving information, navigation prompt information, operation task information and blind area reminding and early warning information. The monitoring data is matched with voice to remind, the driver is assisted to early warn in advance and make effective feedback, and the system feedback is executed specifically according to the early warning level, as shown in fig. 8.
When the first-level alarm condition is met, road information is detected by the camera and the laser radar, the system realizes the judgment of the obstacle in the blind area range of the current vehicle, the blind area obstacle information is rapidly and accurately identified from the current road image, and the blind area range is projected by the self-defined alarm information comprising images and characters, but due to interference factors such as illumination intensity, weather change, shadow shielding, surrounding vehicle blocking and the like, the projected information is required to be processed by an original image, and the information is displayed in a light-weight and clear manner, so that the purposes of feature extraction, image imaging and strong identification are achieved. The specific image preprocessing mode is shown in fig. 9, and comprises the steps of collecting a blind area obstacle image by a camera, setting an image ROI (Region of interest ) region, image graying, filtering enhancement and edge detection, and the purposes of eliminating interference information in the image and enhancing effective information are ensured to be better realized by the information display through the process, so that the efficiency of image processing is improved.
When the vehicle monitors that a pedestrian passes through the dead zone range, the driver can customize the road projection display pattern, meanwhile, the expression and/or the text are selected for prompting, the avoidance is more interesting and personalized in an interactive mode, the contradiction generated during the avoidance is effectively avoided, and the road projection custom expression and text are shown in fig. 10.
When the second-level alarm condition is met, a steering wheel early warning is newly activated, a left sensor and a right sensor are arranged on the steering wheel, a microcontroller is used for performing motion monitoring and heart rate detection, when the speed sensor senses that the speed exceeds a certain value, a corresponding alarm prompt signal is sent out, the steering wheel is used for performing different frequency vibration early warning according to a safe distance, a lamp strip is arranged on the steering wheel for performing flicker early warning in a synchronous vibration frequency manner, and a voice feedback unit is matched with the voice feedback unit for performing information broadcasting that the speed of the driver exceeds the safe speed and the driver is required to walk slowly.
When the secondary alarm condition is met, the new audible and visual alarm is activated, and the alarm standard requirements of the audible and visual alarm comprise 1 that the visual alarm comprises that an LED flashes, the flashing frequency is required to be more than 2HZ, 2 that the audible alarm comprises that emergency sound is required to be sent out in an alarm range, the volume is not less than 90 dB, and the frequency is more than 1KHZ. When pedestrians and vehicles are monitored in the blind area range, the lamp strips inside and outside the vehicle flash to remind, a driver can select reminding sound to transmit through the buzzer, and early warning is carried out on the pedestrians and vehicles in the blind area.
When the three-level alarm condition is met, the steering torque reminding is newly activated, the driving behavior intention and the driving characteristic of the driver are mainly identified according to the driving operation signal, the automobile driving state data and the driving state obtained through the A-pillar camera, which are acquired in real time, the behavior intention and the driving characteristic of the driver are obtained through identification, the parameters of an electric control system are adjusted, and the driving intention of the driver is divided into lane changing, lane keeping and emergency obstacle avoidance according to the left lane and the right lane, and the torque calculation mode is as follows:
τguide=f(Δθ);
Δθ=θreal-θtarget;
Wherein τ guide is steering torque guiding, Δθ is the difference between the actual steering wheel angle θ real and the target steering wheel angle θ target, and the steering torque guiding is divided into three stages according to the vehicle requirement, namely a slight guiding stage, a linear increasing torque guiding stage and a torque guiding saturation stage, according to the increase of the steering angle difference:
Therefore, f (Δθ) can be expressed by the following function:
wherein K is a guiding moment peak value coefficient, a is a corner linear difference curvature, and b is a corner difference linear compensation.
According to different driving intentions, the magnitude of the steering moment is linearly regulated, when the driving intentions are lane keeping, the moment is slightly involved in improving the change rate of a moment curve, when the driving intentions are left/right lane changing, the corresponding moment is linearly increased to a saturated state, when the driving intentions are urgent danger avoidance, the moment directly reaches the saturated state, the vehicle is in a stable state to conduct forward guidance on the vehicle, and the moving track of the vehicle is changed to complete urgent obstacle avoidance.
In addition, the HUD information subsystem of the present application is further provided with a plurality of modules, as shown in fig. 11.
The information display contents of the vehicle state, the environment state, the user state and the vehicle braking aspect are all static state prompts and feedback about various current situations. Thus, they can be integrated into the same state change module. The environment early warning information and the information on the aspect of vehicle maintenance relate to the dynamic scene type prompt and early warning around the current situation change, so that the environment early warning information and the information on the aspect of vehicle maintenance can be integrated into the same scene change module. In addition, the complete HUD auxiliary driving system also comprises vehicle basic information, navigation prompt information, operation task information and the like, which are elements of the co-construction system. The HUD is therefore largely divided into the following regions:
1. And the state is stable. The main driving task information mainly comprises the basic information of the vehicle, such as the speed, the rotating speed, the residual oil quantity and the like, and is the information type at the first level of the driving task.
2. And a state change display module. The auxiliary driving information content directly related to the driving and control states of the vehicle, such as cruising state, gear state, traffic signals, road speed limit, driving fatigue, vehicle deceleration and the like, is positioned at a secondary important level in a driving task.
3. And a state change display module. The auxiliary driving information content directly related to the driving and control states of the vehicle, such as cruising state, gear state, traffic signals, road speed limit, driving fatigue, vehicle deceleration and the like, is positioned at a secondary important level in a driving task.
4. And a scene change display module. The system mainly comprises environment early warning information and vehicle maintenance information, wherein the environment early warning information and the vehicle maintenance information respectively comprise auxiliary driving information content directly related to potential hazards in the driving process of the vehicle, such as vehicle collision, blind area pedestrians, vehicle distance and the like, and the auxiliary driving information content is also positioned at a secondary important level in a driving task.
5. And a space-time change display module. The navigation prompt information is mainly auxiliary driving information such as driving direction, steering distance lane condition, arrival time, road name and the like which change along with the space-time position.
6. And operating the change display module. The main information is operation task information such as non-driving task information of telephone communication, music playing, temperature regulation and the like.
The blind area HUD information display mainly comprises a state display module, an operation change display module, a scene change display module, a blind area early warning prompt information display module and a red display module, wherein the state display module can display the recommended driving speed when an obstacle is monitored, the operation change display module is provided with a steering wheel vibration, a steering wheel prompt lamp, a buzzer, an atmosphere lamp in a vehicle and an outside lamp belt display icon according to alarm grades, the state is displayed step by step, the scene change display module can display blind area early warning prompt information of vehicles and pedestrians, and the blind area early warning prompt information display module can be mainly divided into 7 prompts under scene change, namely lane position prompt, lane departure prompt, vehicle distance prompt, overtaking auxiliary prompt, vehicle collision prompt, blind area pedestrian prompt and surrounding vehicle prompt, and is normally green in display, and yellow in case of meeting the secondary alarm conditions and meeting the third-level alarm conditions. The vehicle speed is distinguished according to the specification, green represents safe and feasible, yellow represents warning and red represents prohibition, and the critical relation between the vehicle speed and the speed limit is represented by gradual change of the color, for example, as shown in fig. 12.
In summary, the embodiment of the application adopts a multi-mode information interaction system, and uses an advanced intelligent perception technology, so that various objects and situations in a blind area can be accurately identified, and real-time and reliable information can be provided for a driver. And the level ladder alarm is carried out according to the safety distance, and more comprehensive and diversified blind area information is provided for a driver by integrating multiple perception modes such as vision, sound, vibration and the like. The system can flexibly adjust the information transmission mode according to the habit, driving scene, traffic condition and other factors of the driver, and the information interaction between the driver and the vehicle of the vehicle outside the pedestrian is generated by reasonably designing the interaction interface and the information feedback mechanism.
The core of the system is a blind area monitoring and early warning display system. The system comprises a plurality of subsystems, wherein the vehicle blind zone detection subsystem is mainly responsible for monitoring data such as distance, temperature, angle and visibility. Once an object is detected to be located in the blind area, the system activates the AR-HUD information display subsystem when the first-level alarm condition is met, and relevant information is displayed on a head-up display of the vehicle. The image display subsystem is focused on sending prompts to pedestrians in the blind areas and supporting the user to customize according to personalized requirements so as to promote more interaction among vehicles, owners and pedestrians. When the secondary alarm condition is met, the new-activation steering wheel control subsystem is responsible for transmitting information to a driver through sound vibration and image early warning, and the new-activation acousto-optic feedback subsystem mainly reminds the outside of the vehicle to timely send out collision early warning signals. When the three-level alarm condition is met, the driver intention steering torque guiding subsystem is newly activated, and the intention of the driver is identified, so that the steering torque is adjusted to change the driving angle, thereby effectively avoiding obstacles and providing more comprehensive guarantee for driving safety.
The embodiment of the application also provides a vehicle comprising the blind area obstacle early warning system.
The embodiment of the application also provides a computer readable storage medium, on which a computer program or instructions are stored, which when executed by a processor, implement the above blind area obstacle early warning method.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, for example, two, three, etc., unless specifically defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and additional implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order from that shown or discussed, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware as in another embodiment, may be implemented using any one or more combinations of discrete logic circuits having logic gates for performing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like, as are known in the art.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.

Claims (4)

1. The blind area obstacle early warning method is characterized by comprising the following steps of:
Monitoring blind area images around the vehicle;
Identifying whether an obstacle exists in the blind area image;
If the obstacle exists, early warning is carried out on a driver of the vehicle and/or the obstacle based on the distance between the obstacle and the vehicle; the early warning of the driver of the host vehicle and/or the obstacle based on the distance between the obstacle and the host vehicle comprises determining an early warning level based on the distance between the obstacle and the host vehicle; the method comprises the steps of carrying out early warning on a driver and/or an obstacle of a host vehicle based on the early warning level, determining the early warning level based on the distance between the obstacle and the host vehicle, wherein the early warning level comprises a first early warning level if the distance is larger than a first preset value and smaller than or equal to a second preset value, a second early warning level if the distance is larger than a third preset value and smaller than or equal to the first preset value, a third early warning level if the distance is smaller than or equal to the third preset value, the third preset value is smaller than the first preset value, the first preset value is smaller than the second preset value, the early warning mode comprises displaying at least one of obstacle images, text and/or graphic reminders, voice reminders, light reminders and steering wheel vibration reminders, the early warning is carried out on the driver and/or the obstacle based on the early warning level comprises a third early warning level if the distance is larger than or equal to the third preset value, the third early warning level is smaller than or equal to the third preset value, the first early warning level is carried out on the driver and the obstacle is displayed on the third preset value, the first preset value is smaller than or equal to the second preset value, the first preset value is smaller than the first preset value, the first preset value is displayed on the voice reminders and the vehicle is displayed on the steering wheel vibration level, the method comprises the steps of carrying out text and/or graphic reminding, sound reminding and light reminding on the obstacle, carrying out early warning on a driver of the vehicle and/or the obstacle based on the distance between the obstacle and the vehicle, identifying the driving intention of the driver if the vehicle is at a third early warning level, adjusting the steering moment of the vehicle based on the driving intention to avoid the obstacle, wherein the driving intention comprises lane keeping, left lane changing, right lane changing and emergency avoidance, adjusting the steering moment of the vehicle based on the driving intention, comprising adjusting the change rate of the steering moment if the driving intention is the lane keeping, linearly increasing the steering moment to a saturated state if the driving intention is the left lane changing or the right lane changing, directly adjusting the steering moment to the saturated state if the driving intention is the emergency avoidance, and calculating the steering moment according to the calculation formula:
;
Wherein, the In order to guide the steering torque,Is the real steering wheel angleSteering wheel angle with targetIs used for the difference in (a),,,In order to guide the moment peak factor,Is the curvature of the corner linear difference,And linearly compensating the rotation angle difference.
2. A blind area obstacle pre-warning system for implementing the blind area obstacle pre-warning method as claimed in claim 1, the system comprising:
the monitoring subsystem is used for monitoring blind area images around the vehicle and acquiring the distance between the obstacle and the vehicle;
the information display subsystem is used for displaying the obstacle image in the blind area image;
the image display subsystem is used for carrying out text and/or graphic reminding on the obstacle;
The steering wheel control subsystem is used for carrying out voice reminding, lamplight reminding and steering wheel vibration reminding on a driver of the vehicle;
The sound-light feedback subsystem is used for carrying out sound reminding and lamplight reminding on the obstacle;
A steering torque guiding subsystem for recognizing a driving intention of the driver and adjusting a steering torque of the host vehicle based on the driving intention;
And the controller is used for controlling the monitoring subsystem to monitor, controlling at least one of the information display subsystem, the image display subsystem, the steering wheel control subsystem and the acousto-optic feedback subsystem to perform early warning based on the distance, and controlling the steering torque guiding subsystem to adjust the steering torque of the vehicle.
3. A vehicle comprising the blind spot obstacle warning system as claimed in claim 2.
4. A computer-readable storage medium having stored thereon a computer program or instructions that are executed by a processor for implementing the blind area obstacle warning method as claimed in claim 1.
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