CN112793565A - Backward collision alarm system, method and device and vehicle - Google Patents
Backward collision alarm system, method and device and vehicle Download PDFInfo
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93272—Sensor installation details in the back of the vehicles
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Abstract
The embodiment of the specification provides a backward collision alarm system, a method, a device and a vehicle, wherein the backward collision alarm system comprises: the device comprises a rear angle radar, a radar wave generator and a reflecting structure which are positioned at the rear end of a front vehicle, a front radar and a forward collision avoidance device which are positioned on a rear vehicle; the rear angle radar is used for detecting a first obstacle signal behind a front vehicle and triggering the radar wave generator to emit radar waves towards the front of the front vehicle when the first obstacle signal meets a first early warning condition, and the radar waves are reflected to the rear of the front vehicle through the reflection structure on the forward propagation path; the front radar is used for detecting a second barrier signal in front of the rear vehicle, and triggering a front collision avoidance device on the rear vehicle to automatically execute avoidance operation when the second barrier signal meets a second early warning condition, so that the problem that the backward collision in the vehicle driving process cannot be automatically avoided in the prior art is effectively solved.
Description
Technical Field
The document relates to the technical field of vehicle driving, in particular to a backward collision warning system, a method and a device and a vehicle.
Background
At present, many vehicles all possess rear collision early warning function, utilize the rear angle radar of installing on the vehicle to detect the vehicle that the rear is close at the vehicle in the vehicle normal driving process, trigger the warning when rear vehicle and preceding car are too close. The alarm process is divided into two aspects: 1) giving an alarm to a driver of the front vehicle in the modes of instrument/central control screen/buzzer/safety belt vibration and/or pre-tightening and the like of the front vehicle; 2) and a driver of the rear vehicle is warned through a danger warning lamp at the rear of the front vehicle.
However, the above warning process cannot effectively automatically avoid a backward collision, and only reminds a driver and gives passive safety protection, and the active avoidance can be realized only by the operation of the driver.
Disclosure of Invention
The specification provides a backward collision alarm system, a backward collision alarm method, a backward collision alarm device and a vehicle, and can effectively solve the problem that the prior art cannot automatically avoid backward collision in the vehicle driving process.
In order to achieve the above purpose, the embodiment of the invention adopts the following technical scheme:
in a first aspect, embodiments of the present specification provide a rear collision warning system, which includes: the device comprises a rear angle radar, a radar wave generator and a reflecting structure which are positioned at the rear end of a front vehicle, a front radar and a forward collision avoidance device which are positioned on a rear vehicle;
the rear angle radar is used for detecting a first obstacle signal behind a front vehicle and triggering the radar wave generator to emit radar waves towards the front of the front vehicle when the first obstacle signal meets a first early warning condition, and the radar waves are reflected to the rear of the front vehicle through the reflection structure on the forward propagation path;
and the front radar is used for detecting a second obstacle signal in front of the rear vehicle and triggering a forward collision avoidance device on the rear vehicle to automatically execute avoidance operation when the second obstacle signal meets a second early warning condition.
In a second aspect, the present specification provides a rear collision warning method for a vehicle running in front and rear of the vehicle including the rear collision warning system of the first aspect, the method including:
detecting a first obstacle signal behind the front vehicle by a rear-corner radar on the front vehicle;
when the first barrier signal meets a first early warning condition, triggering a radar wave generator to emit radar waves towards the front of the front vehicle, wherein the radar waves are reflected to the rear of the front vehicle through a reflection structure on a forward propagation path;
detecting a second obstacle signal in front of the rear vehicle through a front radar on the rear vehicle;
and when the second obstacle signal meets a second early warning condition, triggering a forward collision avoidance device on the rear vehicle to automatically execute avoidance operation.
In a third aspect, the present specification provides a rear collision warning apparatus for a vehicle running adjacent to the front and rear including the rear collision warning system of the first aspect, the apparatus comprising:
the first signal detection module is used for detecting a first obstacle signal behind the front vehicle through a rear-corner radar on the front vehicle;
the first signal processing module is used for triggering the radar wave generator to emit radar waves towards the front of the front vehicle when the first barrier signal meets a first early warning condition, and the radar waves are reflected to the rear of the front vehicle through a reflection structure positioned on a forward propagation path;
the second signal detection module is used for detecting a second barrier signal in front of the rear vehicle through a front radar on the rear vehicle;
and the second signal processing module is used for triggering the forward collision avoidance equipment on the rear vehicle to automatically execute the avoidance operation when the second obstacle signal meets a second early warning condition.
In a fourth aspect, embodiments herein provide a vehicle. The vehicle comprises a rear angle radar, a radar wave generator and a reflecting structure in the rear collision warning system according to the first aspect, which are located at the rear end of a vehicle body; or further comprise front radar and forward collision avoidance devices, and/or collision alert devices.
In the backward collision alarm system, the method, the device and the vehicle provided by the embodiment of the specification, the rear end of the front vehicle is provided with a rear angle radar, a radar wave generator and a reflection structure, and the rear vehicle is provided with a front radar and a forward collision avoidance device; detecting a first barrier signal behind the front vehicle through the rear-angle radar, and triggering a radar wave generator to emit radar waves towards the front of the front vehicle when the first barrier signal meets a first early warning condition, wherein the radar waves are reflected to the rear of the front vehicle through the reflection structure on the forward propagation path; the front radar on the rear vehicle detects a second barrier signal in front of the rear vehicle, when the second barrier signal meets a second early warning condition, the front collision avoidance device on the rear vehicle is triggered to automatically execute the avoidance operation, radar waves which are sent out by a radar wave generator on the front vehicle and reflected by a reflection structure simulate radar echoes of the front radar on the rear vehicle, the front collision avoidance device on the rear vehicle is triggered to automatically execute the collision operation, the front vehicle is enabled to have an automatic avoidance operation effect on backward collision, and the vehicle is enabled to automatically avoid the backward collision.
Drawings
In order to more clearly illustrate one or more embodiments or prior art solutions of the present specification, the drawings that are needed in the description of the embodiments or prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present specification, and that other drawings can be obtained by those skilled in the art without inventive exercise.
Fig. 1 is a first schematic structural diagram of a rear collision warning system provided in an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram ii of a rear collision warning system provided in the embodiment of the present disclosure;
fig. 3 is a first flowchart of a backward collision warning method provided in an embodiment of the present disclosure;
fig. 4 is a second schematic flowchart of a backward collision warning method provided in an embodiment of the present disclosure;
fig. 5 is a third schematic flowchart of a backward collision warning method provided in an embodiment of the present disclosure;
fig. 6 is a fourth schematic flowchart of a backward collision warning method provided in an embodiment of the present disclosure;
fig. 7 is a fifth flowchart of a backward collision warning method provided in an embodiment of the present disclosure;
fig. 8 is a schematic diagram of a module composition of a rear collision warning device provided in an embodiment of the present specification.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the embodiments of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. All other embodiments that can be derived by a person skilled in the art from one or more of the embodiments described herein without making any inventive step shall fall within the scope of protection of this document.
At present, many vehicles have a rear collision early warning function, but in the driving process of the vehicles, for the vehicles which are adjacent to each other in the front and back, the front vehicle can only give an alarm to a front vehicle driver through modes such as an instrument, a central control screen, buzzing, safety belt vibration and/or pre-tightening, and the like, and the front vehicle cannot automatically avoid the alarm, because if the front vehicle accelerates to avoid rear collision, the front vehicle driver is subjected to unexpected acceleration, and the front vehicle is subjected to safe driving risks.
In order to solve the defect that a front vehicle cannot automatically avoid rear collision, the embodiment of the specification provides a rear collision alarm system, a radar wave generator for emitting radar waves to the front of the front vehicle is arranged at the rear end of the front vehicle, the radar waves are reflected to the rear of a vehicle body through a reflection structure, radar echoes of a rear vehicle front radar are simulated, forward collision avoidance operation of the rear vehicle is equivalent to backward collision avoidance operation of the front vehicle, and therefore the vehicle has an avoidance operation function aiming at backward collision.
Fig. 1 is a first schematic structural diagram of a rear collision warning system provided in an embodiment of the present disclosure, where the rear collision warning system includes: the device comprises a rear angle radar 1, a radar wave generator 2 and a reflecting structure 3 which are positioned at the rear end of a front vehicle, a front radar 4 and a forward collision avoidance device 5 which are positioned on a rear vehicle; wherein:
the rear-angle radar 1 is used for detecting a first obstacle signal behind the front vehicle and triggering a radar wave generator 2 to emit radar waves towards the front of the front vehicle when the first obstacle signal meets a first early warning condition, and the radar waves are reflected to the rear of the front vehicle through a reflection structure 3 positioned on a forward propagation path;
and the front radar 4 is used for detecting a second obstacle signal in front of the rear vehicle and triggering the front collision avoidance device 5 on the rear vehicle to automatically execute avoidance operation when the second obstacle signal meets a second early warning condition.
The front vehicle and the rear vehicle may correspond to two vehicles running adjacently in the front and rear.
Specifically, the rear-angle radar 1 detects the condition of an obstacle behind the front vehicle, such as the running speed of the obstacle, the distance from the front vehicle, and the like, by transmitting a radar wave to the rear of the front vehicle and receiving a radar echo. The radar echo received by the rear angle radar 1 is the first obstacle signal. When the first obstacle signal meets the first early warning condition, the radar wave generator 2 is triggered to emit radar waves towards the front of the front vehicle, and the radar waves are reflected to the rear of the front vehicle through the reflecting structure 3 on the forward propagation path.
The first warning condition may be a warning condition for a rear collision built in a vehicle system. The first warning condition may be a frequency range of the radar wave directly, or may further be an operation parameter range of the following vehicle obtained by conversion based on the frequency range of the radar wave, such as at least one of a vehicle speed of the following vehicle, a distance between the following vehicle and the preceding vehicle, and a time distance between the following vehicle and the preceding vehicle.
Correspondingly, when the first obstacle signal meets the first early warning condition, if the frequency of the radar echo corresponding to the first obstacle signal meets the frequency range corresponding to the first early warning condition, or when the running parameter of the rear vehicle obtained by conversion based on the frequency of the radar echo meets the running parameter range of the rear vehicle corresponding to the first early warning condition, the radar wave generator 2 can be triggered to emit radar waves towards the front of the front vehicle to simulate the front radar 4 on the rear vehicle to emit radar waves towards the front of the rear vehicle, the reflection structure 3 is arranged on the forward propagation path of the radar waves, the reflecting structure 3 can be the inherent structure of the original vehicle body, or can be a structure additionally arranged on the vehicle body, the function of the radar wave simulator is to reflect the radar wave emitted by the radar wave generator 2 towards the front of the front vehicle to the rear of the front vehicle so as to simulate the radar echo of the front radar 4 on the rear vehicle and enable the radar echo to be captured by the front radar 4.
In an embodiment, as shown in fig. 2, the radar wave generator 2 may be disposed on a rear bumper 6 of a front vehicle, and the reflection mechanism 3 may be a metal structure of a rear end of the front vehicle. The radar wave generator 2 is arranged on the rear bumper 6 of the front vehicle, namely the last end position of the front vehicle, so that the position of transmitting radar waves is closer to the real position of the front radar of the rear vehicle, and the transmitted radar waves simulate the radar waves transmitted by the front radar of the rear vehicle. The metal structure of the rear end of the front vehicle where the reflection mechanism 3 is located can be specifically an anti-collision beam located at the rear end of the front vehicle, so that the reliability of the reflection mechanism is improved.
The front radar 4 located on the rear vehicle will detect a second obstacle signal in front of the rear vehicle, which second obstacle signal may contain a radar echo of the front vehicle reflected by the reflecting structure 3 during execution of the rear collision warning. And when the second obstacle signal meets a second early warning condition, the front radar 4 triggers the front collision avoidance device 5 on the rear vehicle to automatically execute avoidance operation.
The second warning condition may be a warning condition built in the vehicle system for a front collision. The second warning condition may be a frequency range of the radar wave directly, or further be an operation parameter range of the preceding vehicle obtained by conversion based on the frequency range of the radar wave, such as at least one of a speed of the preceding vehicle, a distance between the following vehicle and the preceding vehicle, and a time distance between the following vehicle and the preceding vehicle.
Correspondingly, when the second obstacle signal meets the second early warning condition, if the frequency of the radar echo corresponding to the second obstacle signal meets the frequency range corresponding to the second early warning condition, or the operation parameter of the front vehicle obtained based on the frequency conversion of the radar echo meets the operation parameter range of the front vehicle corresponding to the second early warning condition, the forward collision avoidance device 5 on the rear vehicle can automatically execute the avoidance operation, so that the forward collision is automatically avoided.
In this embodiment, the second obstacle signal detected by the front radar 4 of the following vehicle may include a radar echo generated by the preceding vehicle in the backward collision warning. Therefore, when the forward collision avoidance device 5 of the rear vehicle performs the automatic avoidance operation of the forward collision based on the radar echo generated by the front vehicle, the forward collision is automatically avoided by the front vehicle, which is equivalent to that the forward vehicle performs the automatic avoidance operation of the backward collision, so that the front vehicle has a function of automatically avoiding the backward collision.
In addition, as shown in FIG. 2, in one embodiment, the system may further include a collision alert device 7 located on the front vehicle;
correspondingly, the rear angle radar 1 is further configured to trigger the collision reminding device 7 of the front vehicle to execute collision reminding operation when the first obstacle signal meets the first early warning condition.
Wherein the collision warning device 7 can give the driver of the preceding vehicle an alarm by at least one of instrument/central control screen/buzzer/seatbelt shock and/or pretension of the preceding vehicle.
In the backward collision alarm system provided by the embodiment of the specification, in the vehicles running adjacently in front and back, a rear angle radar, a radar wave generator and a reflection structure are arranged at the rear end of a front vehicle, and a front radar and a forward collision avoidance device are arranged on a rear vehicle; detecting a first barrier signal behind the front vehicle through the rear-angle radar, and triggering a radar wave generator to emit radar waves towards the front of the front vehicle when the first barrier signal meets a first early warning condition, wherein the radar waves are reflected to the rear of the front vehicle through the reflection structure on the forward propagation path; the front radar on the rear vehicle detects a second barrier signal in front of the rear vehicle, when the second barrier signal meets a second early warning condition, the front collision avoidance device on the rear vehicle is triggered to automatically execute the avoidance operation, radar waves which are sent out by a radar wave generator on the front vehicle and reflected by a reflection structure simulate radar echoes of the front radar on the rear vehicle, the front collision avoidance device on the rear vehicle is triggered to automatically execute the collision operation, the front vehicle is enabled to have an automatic avoidance operation effect on backward collision, and the vehicle is enabled to automatically avoid the backward collision.
On the basis of the rear collision warning system provided by the embodiment, the embodiment of the specification provides a rear collision warning method which is suitable for vehicles running in front and rear adjacent directions and containing the rear collision warning system, and as shown in fig. 3, the method comprises the following steps:
s102, a first obstacle signal behind the front vehicle is detected through a rear angle radar on the front vehicle.
For example, in fig. 1, the rear-angle radar 1 detects an obstacle situation behind a front vehicle, such as the traveling speed of the obstacle, the distance from the front vehicle, and the like, by transmitting a radar wave to the rear of the front vehicle and receiving a radar echo. The radar echo received by the rear angle radar 1 is the first obstacle signal.
And S104, when the first obstacle signal meets a first early warning condition, triggering a radar wave generator to emit radar waves towards the front of the front vehicle, wherein the radar waves are reflected to the rear of the front vehicle through a reflection structure on a forward propagation path.
The first warning condition may be a warning condition for a rear collision built in a vehicle system. The first warning condition may be a frequency range of the radar wave directly, or may further be an operation parameter range of the following vehicle obtained by conversion based on the frequency range of the radar wave, such as at least one of a vehicle speed of the following vehicle, a distance between the following vehicle and the preceding vehicle, and a time distance between the following vehicle and the preceding vehicle.
In an embodiment, as shown in fig. 4, the step S104 may specifically include the following steps:
s104-2, determining at least one first early warning parameter in the speed of the rear vehicle, the distance between the rear vehicle and the front vehicle and the time distance between the rear vehicle and the front vehicle based on the first obstacle signal.
Specifically, after detecting the first obstacle signal, the rear angle radar 1 of the front vehicle converts the first obstacle signal into an operation parameter of the rear vehicle, such as at least one of a vehicle speed of the rear vehicle, a distance between the rear vehicle and the front vehicle, and a time distance between the rear vehicle and the front vehicle, which may be recorded as the first warning parameter.
And S104-4, when the first early warning parameter is matched with the early warning parameter range corresponding to the first early warning condition, triggering the radar wave generator to emit radar waves towards the front of the front vehicle. The radar wave is reflected to the rear of the front vehicle by a reflection structure on the forward propagation path.
Specifically, when the first obstacle signal satisfies the first warning condition, if the frequency of the radar echo corresponding to the first obstacle signal satisfies the frequency range corresponding to the first warning condition, or when the running parameter of the rear vehicle obtained by conversion based on the frequency of the radar echo meets the running parameter range of the rear vehicle corresponding to the first early warning condition, the radar wave generator 2 can be triggered to emit radar waves towards the front of the front vehicle to simulate the front radar 4 on the rear vehicle to emit radar waves towards the front of the rear vehicle, the reflection structure 3 is arranged on the forward propagation path of the radar waves, the reflecting structure 3 can be the inherent structure of the original vehicle body, or can be a structure additionally arranged on the vehicle body, the function of the radar wave simulator is to reflect the radar wave emitted by the radar wave generator 2 towards the front of the front vehicle to the rear of the front vehicle so as to simulate the radar echo of the front radar 4 on the rear vehicle and enable the radar echo to be captured by the front radar 4.
In addition, as shown in fig. 5, in an embodiment, the step S104 may specifically include the following steps:
and S104-6, when the first obstacle signal meets a first early warning condition, triggering a radar wave generator to continuously improve the frequency of radar waves and transmitting the radar waves towards the front of the front vehicle. The radar wave is reflected to the rear of the front vehicle by a reflection structure on the forward propagation path.
Specifically, the radar wave generator 2 can increase the frequency of the radar wave in a disconnected manner in the process of sending out the radar wave, so that the Doppler effect is simulated, the front radar 4 on the rear vehicle detects a barrier signal which is in a disconnected manner, and the front collision early warning/automatic emergency braking function of the rear vehicle is triggered more easily.
And S106, detecting a second obstacle signal in front of the rear vehicle through a front radar on the rear vehicle.
For example, in fig. 1, the front radar 4 located on the rear vehicle detects a second obstacle signal in front of the rear vehicle, which may include a radar echo reflected by the reflecting structure 3 during the execution of the rear collision warning by the front vehicle. The detection principle of the second obstacle signal may refer to the detection principle of the first obstacle signal, which is not described herein again.
And S108, when the second obstacle signal meets a second early warning condition, triggering a forward collision avoidance device on the rear vehicle to automatically execute avoidance operation.
The second warning condition may be a warning condition built in the vehicle system for a front collision. The second warning condition may be a frequency range of the radar wave directly, or further be an operation parameter range of the preceding vehicle obtained by conversion based on the frequency range of the radar wave, such as at least one of a speed of the preceding vehicle, a distance between the following vehicle and the preceding vehicle, and a time distance between the following vehicle and the preceding vehicle.
In an embodiment, as shown in fig. 6, step S108 may specifically include the following steps:
and S108-2, determining at least one second early warning parameter in the speed of the front vehicle, the distance between the rear vehicle and the front vehicle and the time distance between the rear vehicle and the front vehicle based on the second obstacle signal.
Specifically, after the front radar 4 of the rear vehicle detects the second obstacle signal, the first obstacle signal is converted into an operation parameter of the rear vehicle, such as at least one of the vehicle speed of the front vehicle, the distance between the rear vehicle and the front vehicle, and the time distance between the rear vehicle and the front vehicle, which may be recorded as the second warning parameter.
And S108-4, when the second early warning parameter is matched with the early warning parameter range corresponding to the second early warning condition, triggering the forward collision avoidance device on the rear vehicle to automatically execute avoidance operation.
Specifically, when the second obstacle signal satisfies the second warning condition, if the frequency of the radar echo corresponding to the second obstacle signal satisfies the frequency range corresponding to the second warning condition, or the operation parameter of the front vehicle obtained based on the frequency conversion of the radar echo satisfies the operation parameter range of the front vehicle corresponding to the second warning condition, the forward collision avoidance device 5 on the rear vehicle automatically executes the avoidance operation, so that the forward collision is automatically avoided.
Furthermore, as shown in fig. 7, in any one of the above method embodiments, the method further includes the following steps:
and S110, when the first barrier signal meets a first early warning condition, triggering collision reminding equipment of the front vehicle to execute collision reminding operation.
Wherein the collision warning device 7 can give the driver of the preceding vehicle an alarm by at least one of instrument/central control screen/buzzer/seatbelt shock and/or pretension of the preceding vehicle.
In this embodiment, the second obstacle signal detected by the front radar 4 of the following vehicle may include a radar echo generated by the preceding vehicle in the backward collision warning. Therefore, when the forward collision avoidance device 5 of the rear vehicle performs the automatic avoidance operation of the forward collision based on the radar echo generated by the front vehicle, the forward collision is automatically avoided by the front vehicle, which is equivalent to that the forward vehicle performs the automatic avoidance operation of the backward collision, so that the front vehicle has a function of automatically avoiding the backward collision.
In the method for alarming backward collision provided by the embodiment of the specification, a first barrier signal behind a front vehicle is detected by a rear-angle radar, and when the first barrier signal meets a first early warning condition, a radar wave generator is triggered to emit a radar wave towards the front of the front vehicle, and the radar wave is reflected to the rear of the front vehicle by a reflection structure positioned on a forward propagation path; the front radar on the rear vehicle detects a second barrier signal in front of the rear vehicle, when the second barrier signal meets a second early warning condition, the front collision avoidance device on the rear vehicle is triggered to automatically execute the avoidance operation, radar waves which are sent out by a radar wave generator on the front vehicle and reflected by a reflection structure simulate radar echoes of the front radar on the rear vehicle, the front collision avoidance device on the rear vehicle is triggered to automatically execute the collision operation, the front vehicle is enabled to have an automatic avoidance operation effect on backward collision, and the vehicle is enabled to automatically avoid the backward collision
On the basis of the same technical concept, the embodiment of the present specification further provides a rear collision warning device corresponding to the rear collision warning method described in fig. 3 to 7. Fig. 8 is a schematic block diagram of a rear collision warning apparatus provided in an embodiment of the present disclosure, which is adapted to a vehicle running in front and rear of the vehicle including the rear collision warning system, and is used for performing the rear collision warning method described in fig. 3 to 7, as shown in fig. 8, and includes:
a first signal detection module 201, configured to detect a first obstacle signal behind a front vehicle through a rear-corner radar on the front vehicle;
the first signal processing module 202 is configured to trigger the radar wave generator to emit a radar wave towards the front of the front vehicle when the first obstacle signal meets a first early warning condition, and the radar wave is reflected to the rear of the front vehicle by a reflection structure located on a forward propagation path;
the second signal detection module 203 is used for detecting a second obstacle signal in front of the rear vehicle through a front radar on the rear vehicle;
and the second signal processing module 204 is configured to trigger the forward collision avoidance device on the rear vehicle to automatically execute the avoidance operation when the second obstacle signal meets the second early warning condition.
In one embodiment, the control module 202 is further configured to control the first locking mechanism to be disengaged and the second locking mechanism to be locked if a torque request exists when the gear is in a forward gear or a reverse gear, so that the driving motor is linked with the wheels.
In an embodiment, the first signal processing module 202 is configured to:
determining at least one first early warning parameter of the speed of the rear vehicle, the distance between the rear vehicle and the front vehicle and the time distance between the rear vehicle and the front vehicle based on the first obstacle signal;
and when the first early warning parameter is matched with the early warning parameter range corresponding to the first early warning condition, triggering a radar wave generator to emit radar waves towards the front of the front vehicle.
In an embodiment, the first signal processing module 202 is configured to:
when the first obstacle signal meets a first early warning condition, the radar wave generator is triggered to continuously improve the frequency of the radar waves and emit the radar waves towards the front of the front vehicle.
In an embodiment, the second signal processing module 204 is configured to:
determining at least one second early warning parameter of the speed of the front vehicle, the distance between the rear vehicle and the front vehicle and the time distance between the rear vehicle and the front vehicle based on the second obstacle signal;
and when the second early warning parameter is matched with the early warning parameter range corresponding to the second early warning condition, triggering the forward collision avoidance equipment on the rear vehicle to automatically execute avoidance operation.
In a specific embodiment, the apparatus further includes:
and the reminding module is used for triggering the collision reminding equipment of the front vehicle to execute collision reminding operation when the first barrier signal meets the first early warning condition.
In the backward collision warning device provided by the embodiment of the specification, a first barrier signal behind a front vehicle is detected by a rear-angle radar, and when the first barrier signal meets a first early warning condition, a radar wave generator is triggered to emit a radar wave towards the front of the front vehicle, and the radar wave is reflected to the rear of the front vehicle by a reflection structure positioned on a forward propagation path; the front radar on the rear vehicle detects a second barrier signal in front of the rear vehicle, when the second barrier signal meets a second early warning condition, the front collision avoidance device on the rear vehicle is triggered to automatically execute the avoidance operation, radar waves which are sent out by a radar wave generator on the front vehicle and reflected by a reflection structure simulate radar echoes of the front radar on the rear vehicle, the front collision avoidance device on the rear vehicle is triggered to automatically execute the collision operation, the front vehicle is enabled to have an automatic avoidance operation effect on backward collision, and the vehicle is enabled to automatically avoid the backward collision.
It should be noted that the embodiment of the backward collision warning device in this specification and the embodiment of the backward collision warning method in this specification are based on the same inventive concept, and therefore, for specific implementation of this embodiment, reference may be made to implementation of the aforementioned corresponding backward collision warning method, and repeated details are not described again.
Corresponding to the rear collision warning system described in fig. 1 to 2, the present specification further provides a vehicle, including: the rear angle radar, the radar wave generator and the reflecting structure are positioned at the rear end of the vehicle body in the rear collision alarm system; or further comprise front radar and forward collision avoidance devices, and/or collision alert devices.
When the vehicle only comprises the rear angle radar, the radar wave generator and the reflection structure which are positioned at the rear end of the vehicle body and are arranged in the rear collision alarm system, or further comprises collision reminding equipment, the vehicle can be regarded as a front vehicle in the rear collision alarm system and has an automatic avoiding function of rear collision; or when the automobile further comprises a front radar and a forward collision avoidance device, the automobile can be regarded as a front automobile in the backward collision alarm system and has an automatic avoidance function of backward collision, and can be regarded as a rear automobile in the backward collision alarm system and assists the corresponding front automobile to have the automatic avoidance function of backward collision.
Based on the same technical concept, the embodiment of the present disclosure further provides a storage medium for storing computer-executable instructions, and in a specific embodiment, the storage medium may be a usb disk, an optical disk, a hard disk, or the like, and the computer-executable instructions stored in the storage medium, when being executed by a processor, can implement the steps in any one of the method embodiments.
When executed by a processor, computer-executable instructions stored in a storage medium provided in an embodiment of the present specification detect a first obstacle signal behind a leading vehicle through a rear-angle radar, and trigger a radar wave generator to emit a radar wave towards the front of the leading vehicle when the first obstacle signal satisfies a first warning condition, where the radar wave is reflected to the rear of the leading vehicle through a reflection structure located on a forward propagation path; the front radar on the rear vehicle detects a second barrier signal in front of the rear vehicle, when the second barrier signal meets a second early warning condition, the front collision avoidance device on the rear vehicle is triggered to automatically execute the avoidance operation, radar waves which are sent out by a radar wave generator on the front vehicle and reflected by a reflection structure simulate radar echoes of the front radar on the rear vehicle, the front collision avoidance device on the rear vehicle is triggered to automatically execute the collision operation, the front vehicle is enabled to have an automatic avoidance operation effect on backward collision, and the vehicle is enabled to automatically avoid the backward collision.
It should be noted that the embodiment of the storage medium in this specification and the embodiment of the rear collision warning method in this specification are based on the same inventive concept, and therefore, for specific implementation of this embodiment, reference may be made to implementation of the corresponding rear collision warning method, and repeated details are not described again.
The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
One skilled in the art will recognize that one or more embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, one or more embodiments of the present description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The description has been presented with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the description. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
One or more embodiments of the present description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. One or more embodiments of the specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only an example of this document and is not intended to limit this document. Various modifications and changes may occur to those skilled in the art from this document. Any modifications, equivalents, improvements, etc. which come within the spirit and principle of the disclosure are intended to be included within the scope of the claims of this document.
Claims (10)
1. A rear impact warning system comprising: the device comprises a rear angle radar, a radar wave generator and a reflecting structure which are positioned at the rear end of a front vehicle, a front radar and a forward collision avoidance device which are positioned on a rear vehicle;
the rear angle radar is used for detecting a first obstacle signal behind a front vehicle and triggering the radar wave generator to emit radar waves towards the front of the front vehicle when the first obstacle signal meets a first early warning condition, and the radar waves are reflected to the rear of the front vehicle through the reflection structure on the forward propagation path;
and the front radar is used for detecting a second obstacle signal in front of the rear vehicle and triggering a forward collision avoidance device on the rear vehicle to automatically execute avoidance operation when the second obstacle signal meets a second early warning condition.
2. The rear collision warning system according to claim 1, wherein the radar wave generator is provided on a rear bumper of the front vehicle, and the reflection mechanism is a metal structure of a rear end of the front vehicle.
3. A rear collision warning system according to claim 1 or 2, wherein the system further comprises a collision reminder device located on the front vehicle;
and the rear angle radar is also used for triggering the collision reminding equipment of the front vehicle to execute collision reminding operation when the first barrier signal meets a first early warning condition.
4. A rear collision warning method for a vehicle traveling adjacently in front and rear including the rear collision warning system according to any one of claims 1 to 3, the method comprising:
detecting a first obstacle signal behind the front vehicle by a rear-corner radar on the front vehicle;
when the first barrier signal meets a first early warning condition, triggering a radar wave generator to emit radar waves towards the front of the front vehicle, wherein the radar waves are reflected to the rear of the front vehicle through a reflection structure on a forward propagation path;
detecting a second obstacle signal in front of the rear vehicle through a front radar on the rear vehicle;
and when the second obstacle signal meets a second early warning condition, triggering a forward collision avoidance device on the rear vehicle to automatically execute avoidance operation.
5. The method of claim 4, wherein triggering a radar wave generator to emit radar waves toward the front of the leading vehicle when the first obstacle signal satisfies a first pre-warning condition comprises:
determining at least one first early warning parameter of the speed of the rear vehicle, the distance between the rear vehicle and the front vehicle and the time distance between the rear vehicle and the front vehicle based on the first obstacle signal;
and when the first early warning parameter is matched with the early warning parameter range corresponding to the first early warning condition, triggering a radar wave generator to emit radar waves towards the front of the front vehicle.
6. The method of claim 4, wherein triggering a radar wave generator to emit radar waves toward the front of the leading vehicle when the first obstacle signal satisfies a first pre-warning condition comprises:
and when the first obstacle signal meets a first early warning condition, triggering a radar wave generator to continuously improve the frequency of radar waves and emit the radar waves towards the front of the front vehicle.
7. The method of claim 4, wherein the triggering a forward collision avoidance device on a trailing vehicle to automatically perform an avoidance operation when the second obstacle signal satisfies a second early warning condition comprises:
determining at least one second early warning parameter of the speed of the front vehicle, the distance between the rear vehicle and the front vehicle and the time distance between the rear vehicle and the front vehicle based on the second obstacle signal;
and triggering the forward collision avoidance equipment on the rear vehicle to automatically execute avoidance operation when the second early warning parameter is matched with the early warning parameter range corresponding to the second early warning condition.
8. The method according to any one of claims 4-7, wherein the method further comprises:
and when the first barrier signal meets a first early warning condition, triggering collision reminding equipment of the front vehicle to execute collision reminding operation.
9. A rear collision warning apparatus for a vehicle traveling adjacently in front and rear including the rear collision warning system according to any one of claims 1 to 3, the apparatus comprising:
the first signal detection module is used for detecting a first obstacle signal behind the front vehicle through a rear-corner radar on the front vehicle;
the first signal processing module is used for triggering the radar wave generator to emit radar waves towards the front of the front vehicle when the first barrier signal meets a first early warning condition, and the radar waves are reflected to the rear of the front vehicle through a reflection structure positioned on a forward propagation path;
the second signal detection module is used for detecting a second barrier signal in front of the rear vehicle through a front radar on the rear vehicle;
and the second signal processing module is used for triggering the forward collision avoidance equipment on the rear vehicle to automatically execute the avoidance operation when the second obstacle signal meets a second early warning condition.
10. A vehicle, comprising: a rear angle radar, a radar wave generator and a reflection structure in the rear collision warning system as claimed in any one of claims 1 to 3 located at the rear end of the vehicle body; or further comprise front radar and forward collision avoidance devices, and/or collision alert devices.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110013521.0A CN112793565A (en) | 2021-01-06 | 2021-01-06 | Backward collision alarm system, method and device and vehicle |
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| CN202110013521.0A CN112793565A (en) | 2021-01-06 | 2021-01-06 | Backward collision alarm system, method and device and vehicle |
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