阅读说明：本技术 一种全速域盲区监测方法及系统 (Full-speed domain blind area monitoring method and system ) 是由 文翊 李泽彬 孙国正 何班本 于 2020-05-29 设计创作，主要内容包括：本发明公开了一种全速域盲区监测方法及系统,涉及汽车监测领域。包括以下步骤：当自身车速大于倒车雷达功能退出速度,且当任一信号周期内检测到有目标物进入到雷达检测区域时,分析所述目标物的目标位置；根据自身车速和所述目标位置分析所述目标物的目标速度；当所述目标速度在预设范围之内时,根据所述目标车速计算所述目标物下一信号周期时刻的预测位置；下一信号周期时刻分析所述目标物的实际位置；当所述预测位置与所述实际位置的误差在预设范围之内时,开启提示操作。本发明极大扩大了车辆盲区监测系统的工作区间,减少了车辆因盲区并线的碰撞风险。(The invention discloses a full-speed domain blind area monitoring method and system, and relates to the field of automobile monitoring. The method comprises the following steps: when the speed of the vehicle is greater than the exit speed of the reversing radar function and a target object is detected to enter a radar detection area in any signal period, analyzing the target position of the target object; analyzing the target speed of the target object according to the self vehicle speed and the target position; when the target speed is within a preset range, calculating the predicted position of the target object at the next signal period moment according to the target speed; analyzing the actual position of the target object at the next signal period moment; and when the error between the predicted position and the actual position is within a preset range, starting prompt operation. The invention greatly enlarges the working range of the vehicle blind area monitoring system and reduces the collision risk of vehicles due to blind area doubling.)

1. A full-speed domain blind area monitoring method is applied to an ultrasonic rear radar arranged at the rear part of an automobile in a blind area monitoring system, and is characterized by comprising the following steps:

when the speed of the vehicle is greater than the exit speed of the reversing radar function and a target object is detected to enter a radar detection area in any signal period, analyzing the target position of the target object;

analyzing the target speed of the target object according to the self vehicle speed and the target position;

when the target speed is within a preset range, calculating the predicted position of the target object at the next signal period moment according to the target speed;

analyzing the actual position of the target object at the next signal period moment;

and when the error between the predicted position and the actual position is within a preset range, starting prompt operation.

2. The method of claim 1, wherein when the vehicle speed is greater than the reverse radar function exit speed and when the target object is detected to enter the radar detection area in any signal period, the method further comprises the following steps of:

dividing an effective area of a radar detection area into s concentric fan-shaped areas by taking a corresponding radar as a center, wherein the longitudinal distance of each area is L;

analyzing the target position of the target object, specifically comprising the following steps:

calculating a reflected wave difference value delta theta between adjacent regions, where delta theta is k_n+1θⁿ⁺¹-k_nθⁿWherein n is 1,2, … s, n is an integer, thetaⁿIs the combined angle, k, of the reflected wave of the nth region_nAdjusting a reflection angle adjustment coefficient for the n-th area reflected wave;

and when the difference value of the reflected waves exceeds a preset difference value, the target object is in the nth area.

3. The method according to claim 2, wherein analyzing the target speed of the target object based on the own vehicle speed and the target position comprises the following steps:

acquiring a signal period t and a region longitudinal distance L;

according to t, L and the self speed V_Self-vehicleAnd the target position n analyzing the target velocity V of the target object_Target，

Calculating the predicted position of the next signal period moment of the target object according to the self vehicle speed and the target vehicle speed, and specifically comprising the following steps:

according to the target vehicle speed V_TargetCalculating the predicted position n' of the next signal period moment of the target object,wherein, V_Self-vehicle' is the predicted speed of the next signal cycle time of the vehicle.

4. A blind area monitoring method is applied to an ultrasonic wave front radar arranged at the front part of an automobile in a blind area monitoring system, and is characterized by comprising the following steps:

when a target object entering a radar detection area is detected in any signal period, analyzing the target position of the target object;

analyzing the target speed of the target object according to the self vehicle speed and the target position;

when the target speed is within a preset range, calculating radar inhibition time according to the self speed and the target speed;

and inhibiting the ultrasonic wavefront radar according to the radar inhibition time, and after the radar inhibition time, removing the inhibition of the ultrasonic wavefront radar.

5. The method of claim 4, wherein when an object is detected to enter the radar detection area during any one of the signal periods, before analyzing the target position of the object, the method further comprises the steps of:

dividing an effective area of a radar detection area into s concentric fan-shaped areas by taking a corresponding radar as a center, wherein the longitudinal distance of each area is L;

analyzing the target position of the target object, specifically comprising the following steps:

calculating the neighboring areaThe difference Δ θ of the reflected wave, Δ θ ═ k_n+1θⁿ⁺¹-k_nθⁿWherein n is 1,2, … s, n is an integer, thetaⁿIs the combined angle, k, of the reflected wave of the nth region_nAdjusting a reflection angle adjustment coefficient for the n-th area reflected wave;

when the difference value of the reflected waves exceeds a preset difference value, the target object is in the nth area;

analyzing the target speed of the target object according to the self vehicle speed and the target position, and specifically comprising the following steps:

acquiring a signal period t and a region longitudinal distance L;

according to t, L and the self speed V_Self-vehicleAnd the target position n analyzing the target velocity V of the target object_Target，

Calculating radar inhibition time according to the self vehicle speed and the target vehicle speed, and specifically comprising the following steps:

obtaining the distance D between the front radar and the rear radar of the vehicle;

according to t, L, D, V_Self-vehicleAnd V_TargetThe radar suppression time T is calculated,

6. the method of claim 4, wherein after analyzing the target speed of the target object based on the own vehicle speed and the target position, further comprising the steps of:

and when the target speed is out of the preset range, inhibiting the ultrasonic wavefront radar according to preset radar inhibition time, and after the preset inhibition time, removing the inhibition of the ultrasonic wavefront radar.

7. The utility model provides a full speed territory blind area monitoring system, is applied to and locates the ultrasonic wave rear radar at car rear portion in the blind area monitoring system which characterized in that includes:

a location analysis module to: when the speed of the vehicle is greater than the exit speed of the reversing radar function and a target object is detected to enter a radar detection area in any signal period, analyzing the target position of the target object;

a velocity analysis module connected to the location analysis module for: analyzing the target speed of the target object according to the self vehicle speed and the target position;

a location prediction module, coupled to the velocity analysis module, to: when the target speed is within a preset range, calculating a predicted position of the target object at the next signal period moment according to the self vehicle speed and the target vehicle speed;

the location analysis module is further configured to: analyzing the actual position of the target object at the next signal period moment;

a prompt module, connected to the location analysis module and the location prediction module, for: and when the error between the predicted position and the actual position is within a preset range, starting prompt operation.

8. The system of claim 7, further comprising:

a region division module connected to the location analysis module and configured to: dividing an effective area of a radar detection area into s concentric fan-shaped areas by taking a corresponding radar as a center, wherein the longitudinal distance of each area is L;

the position analysis module specifically comprises:

a difference analysis unit for: calculating a reflected wave difference value delta theta between adjacent regions, where delta theta is k_n+1θⁿ⁺¹-k_nθⁿWherein n is 1,2, … s, n is an integer, thetaⁿIs the combined angle, k, of the reflected wave of the nth region_nAdjusting a reflection angle adjustment coefficient for the n-th area reflected wave;

a position analysis unit connected to the difference analysis unit for: when the difference value of the reflected waves exceeds a preset difference value, the target object is in the nth area;

the speed analysis module specifically comprises:

an information acquisition unit configured to: acquiring a signal period t and a region longitudinal distance L;

a speed analysis unit connected with the information acquisition unit and used for: according to t, L and the self speed V_Self-vehicleAnd the target position n analyzing the target velocity V of the target object_Target，

The position analysis module specifically comprises:

the location analysis unit is further configured to: according to the self speed V_Self-vehicleAnd the target vehicle speed V_TargetCalculating the predicted position n' of the next signal period moment of the target object,wherein, V_Self-vehicle' is the predicted speed of the next signal cycle time of the vehicle.

9. The utility model provides a full speed domain blind area monitoring system, is applied to and locates the anterior ultrasonic wave front radar of car in the blind area monitoring system, its characterized in that includes:

a location calculation module to: when a target object entering a radar detection area is detected in any signal period, analyzing the target position of the target object;

a speed calculation module connected to the position calculation module for: analyzing the target speed of the target object according to the self vehicle speed and the target position;

a time calculation module connected to the speed calculation module for: when the target speed is within a preset range, calculating radar inhibition time according to the self speed and the target speed;

a suppression execution module, connected to the time calculation module, for: and inhibiting the ultrasonic wavefront radar according to the radar inhibition time, and after the radar inhibition time, removing the inhibition of the ultrasonic wavefront radar.

10. The system of claim 9, further comprising:

a region processing module, connected to the position calculating module, for: dividing an effective area of a radar detection area into s concentric fan-shaped areas by taking a corresponding radar as a center, wherein the longitudinal distance of each area is L;

the position calculation module specifically includes:

a difference calculation unit for: calculating a reflected wave difference value delta theta between adjacent regions, where delta theta is k_n+1θⁿ⁺¹-k_nθⁿWherein n is 1,2, … s, n is an integer, thetaⁿIs the combined angle, k, of the reflected wave of the nth region_nAdjusting a reflection angle adjustment coefficient for the n-th area reflected wave;

a position calculation unit, connected to the difference calculation unit, for: when the difference value of the reflected waves exceeds a preset difference value, the target object is in the nth area;

the speed calculation module specifically comprises:

a data acquisition unit for: acquiring a signal period t and a region longitudinal distance L;

a speed calculation unit connected to the data acquisition unit, for: according to t, L and the self speed V_Self-vehicleAnd the target position n analyzing the target velocity V of the target object_Target，

The time calculation module specifically comprises:

a distance acquisition unit for: obtaining the distance D between the front radar and the rear radar of the vehicle;

a time calculation unit, connected to the distance acquisition unit, for: according to t, L, D, V_Self-vehicleAnd V_TargetThe radar suppression time T is calculated,

Technical Field

The invention relates to the field of automobile monitoring, in particular to a full-speed domain blind area monitoring method and system.

Background

Because the automobile rearview mirror has a vision blind area, vehicles in the blind area cannot be seen before lane changing, and if overtaking vehicles exist in the blind area, the lane changing can cause collision accidents. In heavy rain weather, heavy fog weather, night light dim, it is more difficult to see the rear vehicle clearly, and the lane change just faces bigger danger this moment, and blind spot monitoring system is exactly that the blind area in order to solve the rear-view mirror produces. The related automobile blind area monitoring system at present generally follows two technical routes in the process of product development: high-performance ultrasonic radar route, millimeter wave radar route.

Disclosure of Invention

The invention aims to overcome the defects of the background technology and provides a full-speed domain blind area monitoring method and system.

In a first aspect, a full-speed domain blind area monitoring method is provided, which is applied to an ultrasonic rear radar arranged at the rear of an automobile in a blind area monitoring system, and comprises the following steps:

when the speed of the vehicle is greater than the exit speed of the reversing radar function and a target object is detected to enter a radar detection area in any signal period, analyzing the target position of the target object;

analyzing the target speed of the target object according to the self vehicle speed and the target position;

when the target speed is within a preset range, calculating the predicted position of the target object at the next signal period moment according to the target speed;

analyzing the actual position of the target object at the next signal period moment;

and when the error between the predicted position and the actual position is within a preset range, starting prompt operation.

According to the first aspect, in a first possible implementation manner of the first aspect, when the speed of the vehicle is greater than the exit speed of the reverse radar function, and when a target object is detected to enter a radar detection area in any signal period, before analyzing a target position of the target object, the method further includes the following steps:

dividing an effective area of a radar detection area into s concentric fan-shaped areas by taking a corresponding radar as a center, wherein the longitudinal distance of each area is L;

analyzing the target position of the target object, specifically comprising the following steps:

calculating a reflected wave difference value delta theta between adjacent regions, where delta theta is k_n+1θⁿ⁺¹-k_nθⁿWherein n is 1,2, … s, n is an integer, thetaⁿIs the combined angle, k, of the reflected wave of the nth region_nAdjusting a reflection angle adjustment coefficient for the n-th area reflected wave;

and when the difference value of the reflected waves exceeds a preset difference value, the target object is in the nth area.

According to the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, analyzing the target speed of the target object according to the own vehicle speed and the target position specifically includes the following steps:

acquiring a signal period t and a region longitudinal distance L;

according to t, L and the self speed V_Self-vehicleAnd the target position n analyzing the target velocity V of the target object_Target，

Calculating the predicted position of the next signal period moment of the target object according to the self vehicle speed and the target vehicle speed, and specifically comprising the following steps:

according to the target vehicle speed V_TargetCalculating the predicted position n' of the next signal period moment of the target object,wherein, V_Self-vehicle' is the predicted speed of the next signal cycle time of the vehicle.

In a second aspect, a blind area monitoring method is provided, which is applied to an ultrasonic wavefront radar arranged at the front part of an automobile in a blind area monitoring system, and comprises the following steps:

when a target object entering a radar detection area is detected in any signal period, analyzing the target position of the target object;

analyzing the target speed of the target object according to the self vehicle speed and the target position;

when the target speed is within a preset range, calculating radar inhibition time according to the self speed and the target speed;

and inhibiting the ultrasonic wavefront radar according to the radar inhibition time, and after the radar inhibition time, removing the inhibition of the ultrasonic wavefront radar.

According to the second aspect, in a first possible implementation manner of the second aspect, when it is detected that a target object enters a radar detection area in any signal period, before analyzing a target position of the target object, the method further includes the following steps:

dividing an effective area of a radar detection area into s concentric fan-shaped areas by taking a corresponding radar as a center, wherein the longitudinal distance of each area is L;

analyzing the target position of the target object, specifically comprising the following steps:

calculating a reflected wave difference value delta theta between adjacent regions, where delta theta is k_n+1θⁿ⁺¹-k_nθⁿWherein n is 1,2, … s,n is an integer, thetaⁿIs the combined angle, k, of the reflected wave of the nth region_nAdjusting a reflection angle adjustment coefficient for the n-th area reflected wave;

when the difference value of the reflected waves exceeds a preset difference value, the target object is in the nth area;

analyzing the target speed of the target object according to the self vehicle speed and the target position, and specifically comprising the following steps:

acquiring a signal period t and a region longitudinal distance L;

according to t, L and the self speed V_Self-vehicleAnd the target position n analyzing the target velocity V of the target object_Target，

Calculating radar inhibition time according to the self vehicle speed and the target vehicle speed, and specifically comprising the following steps:

obtaining the distance D between the front radar and the rear radar of the vehicle;

according to t, L, D, V_Self-vehicleAnd V_TargetThe radar suppression time T is calculated,

according to the second aspect, in a second possible implementation manner of the second aspect, after analyzing the target speed of the target object according to the own vehicle speed and the target position, the method further includes the following steps:

and when the target speed is out of the preset range, inhibiting the ultrasonic wavefront radar according to preset radar inhibition time, and after the preset inhibition time, removing the inhibition of the ultrasonic wavefront radar.

In a third aspect, a full-speed-domain blind area monitoring system is provided, which is applied to an ultrasonic rear radar arranged at the rear of an automobile in the blind area monitoring system, and includes:

a location analysis module to: when the speed of the vehicle is greater than the exit speed of the reversing radar function and a target object is detected to enter a radar detection area in any signal period, analyzing the target position of the target object;

a velocity analysis module connected to the location analysis module for: analyzing the target speed of the target object according to the self vehicle speed and the target position;

a location prediction module, coupled to the velocity analysis module, to: when the target speed is within a preset range, calculating a predicted position of the target object at the next signal period moment according to the self vehicle speed and the target vehicle speed;

the location analysis module is further configured to: analyzing the actual position of the target object at the next signal period moment;

a prompt module, connected to the location analysis module and the location prediction module, for: and when the error between the predicted position and the actual position is within a preset range, starting prompt operation.

According to the third aspect, in a first possible implementation manner of the third aspect, the method further includes:

a region division module connected to the location analysis module and configured to: dividing an effective area of a radar detection area into s concentric fan-shaped areas by taking a corresponding radar as a center, wherein the longitudinal distance of each area is L;

the position analysis module specifically comprises:

a difference analysis unit for: calculating a reflected wave difference value delta theta between adjacent regions, where delta theta is k_n+1θⁿ⁺¹-k_nθⁿWherein n is 1,2, … s, n is an integer, thetaⁿIs the combined angle, k, of the reflected wave of the nth region_nAdjusting a reflection angle adjustment coefficient for the n-th area reflected wave;

a position analysis unit connected to the difference analysis unit for: when the difference value of the reflected waves exceeds a preset difference value, the target object is in the nth area;

the speed analysis module specifically comprises:

an information acquisition unit configured to: acquiring a signal period t and a region longitudinal distance L;

a speed analysis unit connected with the information acquisition unitFor: according to t, L and the self speed V_Self-vehicleAnd the target position n analyzing the target velocity V of the target object_Target，

The position analysis module specifically comprises:

the location analysis unit is further configured to: according to the self speed V_Self-vehicleAnd the target vehicle speed V_TargetCalculating the predicted position n' of the next signal period moment of the target object,

wherein, V_Self-vehicle' is the predicted speed of the next signal cycle time of the vehicle.

The fourth aspect provides a full speed domain blind area monitoring system, is applied to and locates the anterior ultrasonic wave front radar of car in the blind area monitoring system, includes:

a location calculation module to: when a target object entering a radar detection area is detected in any signal period, analyzing the target position of the target object;

a speed calculation module connected to the position calculation module for: analyzing the target speed of the target object according to the self vehicle speed and the target position;

a time calculation module connected to the speed calculation module for: when the target speed is within a preset range, calculating radar inhibition time according to the self speed and the target speed;

a suppression execution module, connected to the time calculation module, for: and inhibiting the ultrasonic wavefront radar according to the radar inhibition time, and after the radar inhibition time, removing the inhibition of the ultrasonic wavefront radar.

According to a fourth aspect, in a first possible implementation manner of the fourth aspect, the method further includes:

a region processing module, connected to the position calculating module, for: dividing an effective area of a radar detection area into s concentric fan-shaped areas by taking a corresponding radar as a center, wherein the longitudinal distance of each area is L;

the position calculation module specifically includes:

a difference calculation unit for: calculating a reflected wave difference value delta theta between adjacent regions, where delta theta is k_n+1θⁿ⁺¹-k_nθⁿWherein n is 1,2, … s, n is an integer, thetaⁿIs the combined angle, k, of the reflected wave of the nth region_nAdjusting a reflection angle adjustment coefficient for the n-th area reflected wave;

a position calculation unit, connected to the difference calculation unit, for: when the difference value of the reflected waves exceeds a preset difference value, the target object is in the nth area;

the speed calculation module specifically comprises:

a data acquisition unit for: acquiring a signal period t and a region longitudinal distance L;

a speed calculation unit connected to the data acquisition unit, for: according to t, L and the self speed V_Self-vehicleAnd the target position n analyzing the target velocity V of the target object_Target，

The time calculation module specifically comprises:

a distance acquisition unit for: obtaining the distance D between the front radar and the rear radar of the vehicle;

a time calculation unit, connected to the distance acquisition unit, for: according to t, L, D, V_Self-vehicleAnd V_TargetThe radar suppression time T is calculated,

compared with the prior art, the invention greatly enlarges the working range of the vehicle blind area monitoring system and reduces the collision risk of vehicles due to blind area doubling.

Drawings

FIG. 1 is a schematic flow chart diagram illustrating an embodiment of a dead zone monitoring method for a full speed domain according to the present invention;

FIG. 2 is a schematic diagram of active areas within a radar detection zone of the present invention;

FIG. 3 is a schematic diagram of the present invention combining the included angle θ and the included angle of the reflected wave of the ultrasonic wave received by each rear radar;

FIG. 4 is a schematic flow chart diagram illustrating an embodiment of a dead zone monitoring method for a full speed domain according to the present invention;

FIG. 5 is a schematic structural diagram of an embodiment of a full-speed domain blind zone monitoring system of the present invention;

FIG. 6 is a schematic structural diagram of an embodiment of a full-speed domain blind area monitoring system according to the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, the following detailed description of the invention is provided in conjunction with the accompanying drawings and the detailed description of the invention.

Referring to fig. 1, an embodiment of the present invention provides a full-speed domain blind area monitoring method, which is applied to an ultrasonic rear radar arranged at a rear portion of an automobile in a blind area monitoring system, and includes the following steps:

when the speed of the vehicle is greater than the exit speed of the reversing radar function and a target object is detected to enter a radar detection area in any signal period, analyzing the target position of the target object;

analyzing the target speed of the target object according to the self vehicle speed and the target position;

when the target speed is within a preset range, calculating a predicted position of the target object at the next signal period moment according to the self vehicle speed and the target vehicle speed;

analyzing the actual position of the target object at the next signal period moment;

and when the error between the predicted position and the actual position is within a preset range, starting prompt operation.

Specifically, in this embodiment, the blind area monitoring function is turned on, and when the vehicle speed is greater than the exit speed of the reverse radar function, for example, the vehicle D is in gear and the vehicle speed is greater than 10km/h (just greater than the idle speed and avoiding the working range of the reverse radar system), and when it is detected that a target object enters the radar detection area in any signal period, the target position of the target object, that is, the position of the target object currently entering the radar detection area is analyzed based on the included angle of the reflected wave of the ultrasonic wave emitted by the radar.

Analyzing the target speed of the target object according to the self vehicle speed and the target position, wherein the target speed can be obtained by calculation according to the self vehicle speed and the target position, or can be the real vehicle speed of the target object detected by an ADAS environment perception sensor, reliability comparison selection is carried out on data calculated by the sensor because the data is more accurate than single ultrasonic calculation, the vehicle speed calculated by the ultrasonic radar according to the condition of the invention is defined as a first target vehicle speed, the vehicle speed detected by the ADAS environment perception sensor is defined as a second target vehicle speed, an MAP graph with the ratio of the first target vehicle speed to the second target vehicle speed as a reference is established, the MAP is further filled with the reliability value of the second target vehicle speed in the sampled data, and if the coordinates of the reliability value in the MAP graph are located in the ADAS environment perception sensor area, the second target vehicle speed is preferentially used as the target reference vehicle speed.

If the target speed is within the preset range, namely whether the target object is in a reasonable range of the automobile speed is judged, a too small target object may be a static obstacle, and a too large target object may be a speed calculation error. And calculating the predicted position of the target object at the next signal period moment according to the target vehicle speed, analyzing the actual position of the target object at the next signal period moment, comparing the predicted position and the actual position of the target object at the next signal period moment, and if the error is within a preset range, indicating that a rear vehicle is coming to overtake, so that prompting operation is started.

The invention greatly enlarges the working range of the vehicle blind area monitoring system and reduces the collision risk of vehicles due to blind area doubling. The warning function of the exceeding working condition of the high speed difference which cannot be realized by the original blind area monitoring system and is very dangerous is particularly realized. Under the condition of 0 cost or extremely low cost, the full-speed domain blind area monitoring system is realized, the performance is improved, and the cost is reduced. The full-speed domain blind area monitoring system is popularized to various vehicle types, a new functional selling point is provided for enterprise commodities, and the safety guarantee is provided for vast customers. Simple and practical is applicable to all motorcycle types, can with each model back a car image system interaction of backing a car, the modularization operation.

Preferably, in another embodiment of the present invention, when the vehicle speed is greater than the exit speed of the reverse radar function, and when a target object is detected to enter the radar detection area in any signal period, before analyzing the target position of the target object, the method further includes the following steps:

dividing an effective area of a radar detection area into s concentric fan-shaped areas by taking a corresponding radar as a center, wherein the longitudinal distance of each area is L;

analyzing the target position of the target object, specifically comprising the following steps:

calculating a reflected wave difference value delta theta between adjacent regions, where delta theta is k_n+1θⁿ⁺¹-k_nθⁿWherein n is 1,2, … s, n is an integer, thetaⁿIs the combined angle, k, of the reflected wave of the nth region_nAdjusting a reflection angle adjustment coefficient for the n-th area reflected wave;

and when the difference value of the reflected waves exceeds a preset difference value, the target object is in the nth area.

Specifically, in this embodiment, the effective area of the radar detection area is divided into s concentric sector areas by taking the corresponding radar as a center, the sector areas are numbered 1,2, … n, … s from inside to outside, and the longitudinal distance of each area is L. The effective area of the radar detection area of the rear radar is shown in fig. 2, the radar detection area of the rear radar is in a dotted line square frame, and the square area is the effective area of the radar detection area of the rear radar.

Calculating a reflected wave difference value delta theta between adjacent regions, where delta theta is k_n+1θⁿ⁺¹-k_nθⁿWherein n is 1,2, … s, n is an integer, thetaⁿFor the combined angle of the reflected waves of the nth region, after one back radar transmits the ultrasonic wave, at least two back radars (which may or may not include the back radar transmitting the ultrasonic wave) receive the reflected wave of the ultrasonic wave, the relationship between the combined angle θ and the angle of the reflected wave of the ultrasonic wave received by each back radar is shown in fig. 3, where θ₁Rear radar reception for transmitting ultrasonic wavesAngle of reflection of the arriving ultrasonic waves, theta₂And theta₃The included angles of the reflected waves of the ultrasonic waves received by the two rear radars (the rear radars which do not transmit the ultrasonic waves) respectively are combined, and the vertex corresponding to the combined included angle theta is a preset point at a known position, such as the center of an automobile, the center of a rear bumper and the like. The comprehensive included angle theta is used for representing the relative azimuth relation between the target object and the vehicle, and is a common technical means for calculating the relative azimuth in the radar field. k is a radical of_nFor the reflection angle adjustment coefficient of the reflection wave of the nth region, the comprehensive included angles of the reflection waves of the same barrier in different regions are different, so that the k value is defined, the representation of the same barrier in different regions is relatively stable, namely k_nθⁿIs relatively stable. When the difference of the reflected waves exceeds the preset difference, namely one of the adjacent areas has the target object and the other area does not have the target object, the target object is in the nth area.

Preferably, in another embodiment of the present invention, the analyzing the target speed of the target object according to the own vehicle speed and the target position specifically includes the following steps:

acquiring a signal period t and a region longitudinal distance L;

according to t, L and the self speed V_Self-vehicleAnd the target position n analyzing the target velocity V of the target object_Target，

Calculating the predicted position of the next signal period moment of the target object according to the self vehicle speed and the target vehicle speed, and specifically comprising the following steps:

according to the target vehicle speed V_TargetCalculating the predicted position n' of the next signal period moment of the target object,

wherein, V_Self-vehicle' is the predicted speed of the next signal cycle time of the vehicle.

Specifically, in the present embodiment, due to the objectivity of the vehicle, a large signal cannot be generated within 50ms of 1 signal periodThe speed fluctuates, so that the coming vehicle speed, namely the target speed can be estimated. Acquiring a signal period t and a region longitudinal distance L, and according to the t and the L, the self vehicle speed V_Self-vehicleAnd the target position n analyzing the target velocity V of the target object_Target。

Then when the target speed V_TargetWithin a preset range, according to a target speed V_TargetCalculating the predicted position n' of the next signal period moment of the target object,wherein, V_Self-vehicle' is the predicted speed of the next signal cycle time of the vehicle.

The method and the device achieve the effect of alarming when the target vehicle overtakes at the reasonable speed within the preset range, and are irrelevant to the relative speed between the vehicles of the coming vehicle and the coming vehicle.

Referring to fig. 4, an embodiment of the present invention provides a full-speed domain blind area monitoring method, which is applied to an ultrasonic wavefront radar arranged at a front portion of an automobile in a blind area monitoring system, and includes the following steps:

when a target object entering a radar detection area is detected in any signal period, analyzing the target position of the target object;

analyzing the target speed of the target object according to the self vehicle speed and the target position;

when the target speed is within a preset range, calculating radar inhibition time according to the self speed and the target speed;

and inhibiting the ultrasonic wavefront radar according to the radar inhibition time, and after the radar inhibition time, removing the inhibition of the ultrasonic wavefront radar.

Specifically, in the embodiment, for the case of the overtaking of the vehicle, it is desirable that the vehicle does not alarm in the front view range, and does not alarm for the oncoming vehicle, but immediately alarms when the vehicle enters the calibration area of the rear probe. However, the traditional system cannot distinguish the same-direction or opposite-direction vehicles, the traditional system adopts a blind area monitoring ultrasonic radar (front) to inhibit the system from working in order to solve the problem, and when the opposite-direction vehicles enter a front detection area, the front radar is inhibited, namely the system is shielded for a period of time and does not give an alarm. However, when the vehicle overtakes at a high speed, the overtaking is completed in the front radar suppression period, and the system cannot give an alarm.

When a target object entering a radar detection area is detected in any signal period, the target position of the target object, namely the position of the target object entering the radar detection area at present, is analyzed based on the included angle of the reflected wave of the ultrasonic wave transmitted by the radar.

Analyzing the target speed of the target object according to the self vehicle speed and the target position, wherein the target speed can be obtained by calculation according to the self vehicle speed and the target position, or can be the real vehicle speed of the target object detected by an ADAS environment perception sensor, reliability comparison selection is carried out on data calculated by the sensor because the data is more accurate than single ultrasonic calculation, the vehicle speed calculated by the ultrasonic radar according to the condition of the invention is defined as a first target vehicle speed, the vehicle speed detected by the ADAS environment perception sensor is defined as a second target vehicle speed, an MAP graph with the ratio of the first target vehicle speed to the second target vehicle speed as a reference is established, the MAP is further filled with the reliability value of the second target vehicle speed in the sampled data, and if the coordinates of the reliability value in the MAP graph are located in the ADAS environment perception sensor area, the second target vehicle speed is preferentially used as the target reference vehicle speed.

If the target speed is within the preset range, namely whether the target object is in a reasonable range of the automobile speed is judged, a too small target object may be a static obstacle, and a too large target object may be a speed calculation error. And calculating radar inhibition time according to the self vehicle speed and the target vehicle speed, then inhibiting the ultrasonic wavefront radar according to the radar inhibition time, and removing the inhibition of the ultrasonic wavefront radar after the radar inhibition time.

The invention greatly enlarges the working range of the vehicle blind area monitoring system and reduces the collision risk of vehicles due to blind area doubling. The warning function of the exceeding working condition of the high speed difference which cannot be realized by the original blind area monitoring system and is very dangerous is particularly realized. Under the condition of 0 cost or extremely low cost, the full-speed domain blind area monitoring system is realized, the performance is improved, and the cost is reduced. The full-speed domain blind area monitoring system is popularized to various vehicle types, a new functional selling point is provided for enterprise commodities, and the safety guarantee is provided for vast customers. Simple and practical is applicable to all motorcycle types, can with each model image system interaction of backing a car, the modularization operation.

Preferably, in another embodiment of the present invention, when a target object is detected to enter the radar detection area in any signal period, before analyzing the target position of the target object, the method further includes the following steps:

dividing an effective area of a radar detection area into s concentric fan-shaped areas by taking a corresponding radar as a center, wherein the longitudinal distance of each area is L;

analyzing the target position of the target object, specifically comprising the following steps:

calculating a reflected wave difference value delta theta between adjacent regions, where delta theta is k_n+1θⁿ⁺¹-k_nθⁿWherein n is 1,2, … s, n is an integer, thetaⁿIs the combined angle, k, of the reflected wave of the nth region_nAdjusting a reflection angle adjustment coefficient for the n-th area reflected wave;

when the difference value of the reflected waves exceeds a preset difference value, the target object is in the nth area;

analyzing the target speed of the target object according to the self vehicle speed and the target position, and specifically comprising the following steps:

acquiring a signal period t and a region longitudinal distance L;

according to t, L and the self speed V_Self-vehicleAnd the target position n analyzing the target velocity V of the target object_Target，

Calculating radar inhibition time according to the self vehicle speed and the target vehicle speed, and specifically comprising the following steps:

obtaining the distance D between the front radar and the rear radar of the vehicle;

according to t, L, D, V_Self-vehicleAnd V_TargetThe radar suppression time T is calculated,

specifically, in this embodiment, the effective area of the radar detection area is divided into s concentric sector areas by taking the corresponding radar as a center, the sector areas are numbered 1,2, … n, … s from inside to outside, and the longitudinal distance of each area is L. The effective area of the radar detection area of the rear radar is shown in fig. 2, the radar detection area of the rear radar is in a dotted line square frame, and the square area is the effective area of the radar detection area of the rear radar.

Calculating a reflected wave difference value delta theta between adjacent regions, where delta theta is k_n+1θⁿ⁺¹-k_nθⁿWherein n is 1,2, … s, n is an integer, thetaⁿAnd the average value obtained after filtering the reflection included angles received by the two rear radars is the comprehensive included angle and is used for representing the relative azimuth relationship between the target object and the vehicle. k is a radical of_nFor the reflection angle adjustment coefficient of the reflection wave of the nth region, the comprehensive included angles of the reflection waves of the same barrier in different regions are different, so that the k value is defined, the representation of the same barrier in different regions is relatively stable, namely k_nθⁿIs relatively stable. When the difference of the reflected waves exceeds the preset difference, namely one of the adjacent areas has the target object and the other area does not have the target object, the target object is in the nth area.

Because of the objectivity of the vehicle, large speed fluctuation cannot be generated within 50ms of 1 signal period, and the coming vehicle speed, namely the target speed, can be estimated. Acquiring a signal period t and a region longitudinal distance L, and according to the t and the L, the self vehicle speed V_Self-vehicleAnd the target position n analyzing the target velocity V of the target object_Target。

Then when the target speed V_TargetWhen the distance D is within the preset range, the distance D between the front and the rear radars of the vehicle is obtained, the radar inhibition time T is calculated,

the ultrasonic radar has limited capability of calculating the speed of the target vehicle, n x L in a calculation formula is a fixed interval value, the error is large, the accuracy range can only be about 10km/h, the ultrasonic radar is used as a supplement of the speed of the target vehicle, and the ultrasonic radar performs speed comparison by using the scheme on the vehicle provided with the environment perception sensor:

and substituting and comparing the obtained reliable target speed of the target five, and continuing the optimization algorithm of the vehicle overrunning condition.

The method and the device achieve the effect of alarming when the target vehicle overtakes at the reasonable speed within the preset range, and are irrelevant to the relative speed between the vehicles of the coming vehicle and the coming vehicle.

Preferably, in another embodiment of the present invention, after analyzing the target speed of the target object according to the own vehicle speed and the target position, the method further includes the steps of:

and when the target speed is out of the preset range, inhibiting the ultrasonic wavefront radar according to preset radar inhibition time, and after the preset inhibition time, removing the inhibition of the ultrasonic wavefront radar.

Specifically, in this embodiment, if the target speed is outside the preset range, it is determined that the target object is not a vehicle ahead, and therefore the ultrasonic wavefront radar is suppressed according to the preset radar suppression time, and after the preset suppression time, the ultrasonic wavefront radar is released from suppression. The preset inhibition time is the radar inhibition time calibrated by a manufacturer.

Referring to fig. 5, an embodiment of the present invention provides a full-speed domain blind area monitoring system, which is applied to an ultrasonic rear radar located at a rear of an automobile in the blind area monitoring system, and includes:

a location analysis module 110 to: when the speed of the vehicle is greater than the exit speed of the reversing radar function and a target object is detected to enter a radar detection area in any signal period, analyzing the target position of the target object;

a velocity analysis module 120 coupled to the location analysis module 110 for: analyzing the target speed of the target object according to the self vehicle speed and the target position;

a position prediction module 130, connected to the speed analysis module 120, for: when the target speed is within a preset range, calculating a predicted position of the target object at the next signal period moment according to the self vehicle speed and the target vehicle speed;

the location analysis module 110 is further configured to: analyzing the actual position of the target object at the next signal period moment;

a prompt module 140, connected to the location analysis module 110 and the location prediction module 130, for: and when the error between the predicted position and the actual position is within a preset range, starting prompt operation.

A region dividing module 150 configured to: dividing an effective area of a radar detection area into s concentric fan-shaped areas by taking a corresponding radar as a center, wherein the longitudinal distance of each area is L;

the position analysis module 110 specifically includes:

a difference analysis unit 111 for: calculating a reflected wave difference value delta theta between adjacent regions, where delta theta is k_n+1θⁿ⁺¹-k_nθⁿWherein n is 1,2, … s, n is an integer, thetaⁿIs the combined angle, k, of the reflected wave of the nth region_nAdjusting a reflection angle adjustment coefficient for the n-th area reflected wave;

a position analyzing unit 112, connected to the difference analyzing unit 111, for: when the difference value of the reflected waves exceeds a preset difference value, the target object is in the nth area;

the speed analysis module 120 specifically includes:

an information acquisition unit 121 configured to: acquiring a signal period t and a region longitudinal distance L;

a speed analysis unit 122, connected to the information acquisition unit 121, for: according to t, L and the self speed V_Self-vehicleAnd the target position n analyzing the target velocity V of the target object_Target，

The position analysis module 110 specifically includes:

the location analyzing unit 112 is further configured to: according to the self speed V_Self-vehicleAnd the target vehicle speed V_TargetCalculating the predicted position n' of the next signal period moment of the target object,

wherein, V_Self-vehicleThe predicted speed of the next signal period moment of the vehicle is obtained.

Specifically, the functions of the modules in this embodiment have been elaborated in the corresponding method embodiments, and therefore a description thereof is not repeated.

Referring to fig. 6, an embodiment of the present invention provides a full-speed domain blind area monitoring system, which is applied to an ultrasonic wavefront radar arranged at a front portion of an automobile in the blind area monitoring system, and includes:

a position calculation module 210 to: when a target object entering a radar detection area is detected in any signal period, analyzing the target position of the target object;

a speed calculation module 220, connected to the position calculation module 210, for: analyzing the target speed of the target object according to the self vehicle speed and the target position;

a time calculation module 230, connected to the speed calculation module 220, for: when the target speed is within a preset range, calculating radar inhibition time according to the self speed and the target speed;

a suppression execution module 240, connected to the time calculation module 230, configured to: inhibiting the ultrasonic wavefront radar according to the radar inhibition time, and after the radar inhibition time, removing the inhibition of the ultrasonic wavefront radar; and when the target speed is out of the preset range, inhibiting the ultrasonic wavefront radar according to preset radar inhibition time, and after the preset inhibition time, removing the inhibition of the ultrasonic wavefront radar.

A region processing module 250, connected to the position calculating module 210, for: dividing an effective area of a radar detection area into s concentric fan-shaped areas by taking a corresponding radar as a center, wherein the longitudinal distance of each area is L;

the position calculating module 210 specifically includes:

a difference calculation unit 211 for: calculating a reflected wave difference value delta theta between adjacent regions, where delta theta is k_n+1θⁿ⁺¹-k_nθⁿWherein n is 1,2, … s, n is an integer, thetaⁿIs the combined angle, k, of the reflected wave of the nth region_nAdjusting a reflection angle adjustment coefficient for the n-th area reflected wave;

a position calculating unit 212, connected to the difference calculating unit 211, for: when the difference value of the reflected waves exceeds a preset difference value, the target object is in the nth area;

the speed calculating module 220 specifically includes:

a data acquisition unit 221 configured to: acquiring a signal period t and a region longitudinal distance L;

a speed calculation unit 222, connected to the data acquisition unit 221, for: according to t, L and the self speed V_Self-vehicleAnd the target position n analyzing the target velocity V of the target object_Target，

The time calculating module 230 specifically includes:

a distance obtaining unit 231 for: obtaining the distance D between the front radar and the rear radar of the vehicle;

a time calculating unit 232, connected to the distance obtaining unit 231, configured to: according to t, L, D, V_Self-vehicleAnd V_TargetThe radar suppression time T is calculated,

specifically, the functions of the modules in this embodiment have been elaborated in the corresponding method embodiments, and therefore a description thereof is not repeated.

The embodiment of the invention provides a full-speed domain blind area monitoring system and a full-speed domain blind area monitoring method, wherein the system comprises a blind area monitoring ultrasonic radar (front), a central controller (with a full-speed domain blind area monitoring system and algorithm), a whole vehicle CAN bus, a rearview mirror indicating unit and an optional ADAS environment perception sensor;

the blind area monitoring ultrasonic radar (front) is used for transmitting ultrasonic information to a real scene environment, recovering reflected echo information, summarizing the acquired information and then sending out a suppression signal;

the blind area monitoring ultrasonic radar (rear) is used for transmitting ultrasonic information to a real scene environment, recovering reflected echo information, summarizing collected information and then sending an activation signal;

the whole vehicle CAN bus is used for providing a function switch signal, a gear signal and a real-time vehicle speed signal to the central controller;

the optional ADAS environmental perception sensor is unnecessary, the real vehicle speed for detecting the target distance is used on a vehicle which is highly matched with the sensor, and data calculated by the sensor is more accurate than single ultrasonic wave calculation, so that reliability comparison is carried out and the sensor is used after selection;

the rearview mirror indicating unit is used for giving a proper acousto-optic prompt to a driver;

the central controller (with a full-speed domain blind area monitoring system and algorithm) is used for 1) judging the speed of the target vehicle according to the feedback information of the blind area monitoring ultrasonic radar (front); 2) calculating a model of vehicle type running according to the vehicle speed of the vehicle and the target vehicle speed, and calculating inhibition and activation conditions; 2) calculating the authenticity of the target vehicle speed by the comprehensive ratio ultrasonic radar and the ADAS environmental perception sensor; 3) sending out a suppression signal to a blind area monitoring ultrasonic radar (after) according to the calculated suppression condition; 4) when the area monitoring ultrasonic radar is not inhibited, the activation signal sent by the area monitoring ultrasonic radar is received and finally output to the rearview mirror indicating unit.

The rear-view mirror indicating unit is displayed on the HMI of the last client side, is used for customer perception, is not necessarily positioned on the rear-view mirror, and can be reasonably arranged by a host factory.

The method comprises the following steps:

step 1: starting the engine after turning on the ignition switch, wherein a full-speed-domain blind area monitoring system function is manually started or started;

step 2: the ultrasonic radar (front and back), the whole vehicle CAN bus and the central controller are used for providing gear signals, real-time vehicle speed signals and ultrasonic activation or inhibition signals for the central controller; the central controller outputs signals to the central control display unit HMI.

And step 3: the vehicle speed exceeds 10km/h, and the central controller activates a signal to the central control display unit HMI.

And 4, step 4: starting an ultrasonic radar, and collecting reflected ultrasonic information of a real scene environment;

and 5: real scene environment reflection ultrasonic information judges the speed of a nearby target vehicle through a built-in algorithm of a central controller, memorizes and stores the speed, and judges whether to quit an alarm signal or not after decision;

step 6: if judging that the moving vehicle enters the algorithm for monitoring the dead zone in the full speed domain described in the patent;

the working conditions are calculated under the scenarios described in the above embodiments of the present application:

and 7: if the working condition is met and the activation signal needs to be sent out, the rearview mirror indicating unit only outputs an alarm according to the signal finally provided by the central controller.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.