TWI834931B - Vehicle blind spot detection system - Google Patents

Abstract

A vehicle blind spot detection system, suitable for a vehicle, the vehicle blind spot detection system includes a blind spot detection device, a controller and a warning device; the blind spot detection device includes a ranging unit, the ranging unit is in a A lateral relative distance and a longitudinal relative distance between an object and the vehicle are detected within the detection range; the controller is electrically connected to the blind spot detection device, and the controller calculates and generates a lateral hazard parameter based on the lateral relative distance, and based on The calculation of the vertical relative distance generates a vertical risk parameter, and the sum of the transverse risk parameter and the vertical risk parameter generates a total risk level score, and the controller determines whether to generate a warning signal based on the total risk level score; the controller determines whether to generate a warning signal; The warning device is electrically connected to the controller, and the warning device issues a warning based on the warning signal.

Description

Vehicle blind spot detection system

A detection system, especially a vehicle blind spot detection system.

Vehicles are one of the common means of transportation in today's society, and vehicle manufacturing processes have continued to evolve with the popularity and popularity of vehicles to provide drivers with vehicles of different styles and performance. As vehicle technology gradually matures, in addition to the performance experience of vehicle driving, today's drivers have also begun to pay attention to driving safety. Therefore, many manufacturers are equipped with anti-lock braking systems (ABS) and cycle braking systems on their vehicles. Advanced Driver Assistance Systems (ADAS) such as Traction Control System (TCS) provide drivers with real-time information on vehicle driving and environmental changes, and can even intervene in vehicle control in advance to avoid traffic accidents.

In addition to the vehicle's braking and trajectory control, the vehicle's blind spot condition is also one of the important factors affecting driving safety. Most vehicles are equipped with left and right rear mirrors. The driver can observe the left and right sides through the left and right rear mirrors. However, due to the limitations of the size, curvature and setting position of the rearview mirror, the driver still has a visual blind spot, or blind spot, when driving. Take a motorcycle 70 shown in Figure 11 as an example. The blind spots of the motorcycle 70 are generally located in the area T on the left rear of the vehicle body and the area Q on the right rear of the vehicle body. When other vehicles enter the blind spots T and Q, it is difficult for the driver to detect it through the rearview mirror 71 , thereby increasing the risk of accidents when changing lanes or turning. possibility.

Although some operators have installed blind spot detection radars on vehicles to detect whether objects enter the detection area through ultrasonic waves, most of the current blind spot detection radars are fixed detection systems. As long as an object enters the detection area, the driver will be alerted. Warning: when drivers enter a city or are in peak driving hours, and vehicles are closely adjacent to each other, frequent warnings are likely to occur, causing the driver to lose alertness. Moreover, the current blind spot detection radar cannot distinguish the danger level, and the driver can only It is known that an object is located in the blind spot, but it is impossible to know the degree of danger that the object in the blind spot may cause to the driver. Therefore, current vehicles must make further improvements in blind spot detection to improve driver safety.

[Problems to be solved by this invention]

The invention provides a vehicle blind spot detection system to sense objects in the blind spot, calculate the danger level according to the distance between the object and the vehicle, and then provide different warnings to the driver according to different danger levels to assist the driver in understanding Real-time information on vehicle blind spots improves driver safety.

[Technical means to solve problems]

In order to achieve the aforementioned objectives, the vehicle blind spot detection system of the present invention is suitable for a vehicle. The vehicle blind spot detection system includes a blind spot detection device, a controller and a warning device; The blind spot detection device includes a ranging unit that detects a lateral relative distance and a longitudinal relative distance between an object and the vehicle within a detection range; The controller is electrically connected to the blind spot detection device, and the controller calculates and generates a lateral danger parameter based on the lateral relative distance, and generates a directional danger parameter based on the calculation of the vertical relative distance, and combines the lateral danger parameter and the vertical The sum of the risk parameters generates a total risk level score, and the controller determines whether to generate a warning signal based on the total risk level score; The warning device is electrically connected to the controller, and the warning device issues a warning based on the warning signal.

Another vehicle blind spot detection system of the present invention is suitable for a vehicle. The vehicle blind spot detection system includes a blind spot detection device and a warning device; The blind spot detection device includes: A ranging unit that detects a lateral relative distance and a longitudinal relative distance between an object and the vehicle within a detection range; and An arithmetic unit, the arithmetic unit calculates and generates a lateral risk parameter based on the lateral relative distance, and calculates and generates a directional risk parameter based on the vertical relative distance, and sums the lateral risk parameter and the vertical risk parameter to generate a risk The total score of the level. The computing unit determines whether to generate a warning signal based on the total score of the risk level; The warning device issues a warning based on the warning signal.

[The effect of invention]

The vehicle blind spot detection system of the present invention uses the ranging unit to detect objects in the blind spot of the vehicle, determine whether there are objects or obstacles in the blind spot, and detect the lateral relative distance and the vertical relative distance between the object and the vehicle, and then The controller or the computing unit generates the lateral risk parameter and the vertical risk parameter of different values according to the lateral relative distance and the vertical relative distance of different distances. The controller or the motion unit generates different values of the lateral risk parameter according to the lateral risk. The total score of the risk level generated by the summation of the parameters and the direct danger parameters is used to determine whether the warning signal is generated to warn the user, so that the user can understand the information in the blind spot of the vehicle through the warning generated by the warning device and improve driving. Human driving safety.

The vehicle blind spot detection system of the present invention is provided for a vehicle. The vehicle can be a car, a motorcycle or other powered vehicles. Please refer to Figure 1. In the first embodiment, the vehicle blind spot detection system includes: a blind spot detection system. A measuring device 10, a controller 20, and a warning device 30.

As shown in Figure 2, the blind spot detection device 10 includes a ranging unit 11. The ranging unit 11 can be (but is not limited to) a radar, an optical radar or an ultrasonic detector. The present invention takes radar as an example. Radar emits electromagnetic waves to detect the distance of objects. In this embodiment, the ranging unit 11 can be disposed at the rear end of a vehicle 50 and performs detection toward the rear of the vehicle 50, and the ranging unit 11 is disposed on a central axis L of the vehicle 50. The distance measurement unit 11 can detect the left and right rear areas of the vehicle 50 on average, and the distance measurement unit 11 can detect a lateral relative distance X between an object 60 and the vehicle 50 within a detection range. To the relative distance Y, this is a conventional technology of the distance measuring unit 11. Generally speaking, since the distance measuring unit 11 is disposed on the vehicle 50, the lateral relative distance X and the vertical relative distance Y can be the distance measuring unit. Calculated based on the position of 11, the lateral relative distance and the vertical relative distance Y respectively represent the relative distance in the lateral component and the vertical component between the object 60 and the vehicle 50 .

As shown in FIG. 1 , the controller 20 is electrically connected to the blind spot detection device 10 , and the controller 20 can be an entire vehicle controller installed in the vehicle 50 to receive the information detected by the ranging unit 11 of the lateral relative distance X and the vertical relative distance Y. The controller 20 calculates and generates a corresponding lateral risk parameter A according to the received lateral relative distance The corresponding vertical danger parameter B is then calculated and the sum of the horizontal danger parameter A and the vertical danger parameter B is calculated to generate a danger level total score S. The controller 20 determines whether to generate a warning signal based on the danger level total score S. W, the controller 20 uses the warning signal W to control the warning device 30 to issue a warning.

When the values of the lateral danger parameter A and the vertical danger parameter B are larger, it means that the object 60 is more likely to cause danger to the vehicle and the driver, and because the detection range of the ranging unit 11 is not All are blind spots in the driver's field of vision, and the controller 20 can divide the detection range of the ranging unit 11 into a warning range M and a warning ignoring range N. In this embodiment, since the driver can generally directly observe the area directly behind the rear of the vehicle 50 through the left and right rearview mirrors, the controller 20 can define an area where the lateral relative distance X is less than or equal to 0.5 meters. The alarm ignore range N is used, and when the lateral relative distance received by the controller 20 is less than or equal to 0.5 meters, it means that the object 60 detected by the ranging unit 11 is located in the alarm ignore range N, and the driver People can observe the object 60 within the warning ignoring range N through the rearview mirror without having to let the controller 20 determine whether to issue a warning. This can prevent the driver from noticing the object 60 and the vehicle blind spot detection system frequently giving warnings. situation occurs, therefore when the object 60 is located within the alarm range N, the controller 20 does not calculate and generate the lateral danger parameter A and the vertical danger parameter B, wherein the alarm ignores the size of the range N. The angle and position of the rear view mirror of the vehicle 50 can be adjusted accordingly, and the controller 20 can also define the entire detection range of the ranging unit 11 as the alarm range, which is not limited to this embodiment.

As shown in FIG. 3A , the controller 20 can store comparison information of the lateral risk parameter A corresponding to different lateral relative distances X. The controller 20 can check the lateral relative distances X according to different lengths. The table method generates different values of the lateral danger parameter A. For example, when the lateral relative distance X is greater than 3.25 meters, the controller 20 determines that the value of the lateral danger parameter A is 0. When the lateral relative distance X is less than or equal to 3.25 meters and greater than 2 meters, the controller 20 determines that the value of the lateral danger parameter A is 2, and when the lateral relative distance X is less than or equal to 2 meters and greater than 1 meter, the controller 20 It is determined that the value of the lateral danger parameter A is 4. When the lateral relative distance X is less than or equal to 1 meter and greater than 0.5 meters, the controller 20 determines that the value of the lateral danger parameter A is 5. When the object 60 crosses When approaching the vehicle 50 , the vehicle 50 is more likely to be affected by the object 60 and be in danger. Therefore, the smaller the lateral relative distance It can be adjusted for different vehicles or different driving environments, and is not limited to this embodiment.

Similarly, as shown in FIG. 3B , the controller 20 can store comparison information of the vertical hazard parameter B values corresponding to different vertical relative distances Y. The lateral risk parameter B with different values is generated by a lookup table method to the relative distance Y. For example, when the vertical relative distance Y is less than or equal to 15 meters and greater than 10 meters, the controller 20 determines that the vertical relative distance Y is less than or equal to 15 meters and is greater than 10 meters. The value of the dangerous parameter B is 1. When the vertical relative distance Y is less than or equal to 10 meters and greater than 7 meters, the controller 20 determines that the value of the vertical dangerous parameter B is 2. When the vertical relative distance When Y is less than or equal to 7 meters and greater than 5 meters, the controller 20 determines that the value of the vertical danger parameter B is 3. When the vertical relative distance Y is less than or equal to 5 meters, the controller 20 determines The value of the vertical danger parameter B is 4. When the object 60 is closer to the vehicle 50 , the vehicle 50 is more likely to be affected by the object 60 and be in danger. Therefore, the smaller the vertical relative distance Y is, the smaller the vertical relative distance Y is. The greater the value of the danger parameter B, the numerical boundary of the vertical danger parameter B can be adjusted for different vehicles or different driving environments, and is not limited to this embodiment.

The warning device 30 is electrically connected to the controller 20 , and the warning device 30 can be a warning light, a buzzer or a vibrator. The warning device 30 can be installed on the rear view mirror, instrument panel or accelerator of the vehicle 50 When the warning device 30 receives the warning signal W output by the controller 20, the warning device 30 generates a warning mode such as sound, flashing or vibration according to the warning signal W, such as handles and other areas that are more likely to be noticed by the driver. The driver is notified of real-time information about the vehicle 50's blind spot, assisting the driver in understanding the danger level of the object 60 in the blind spot to the vehicle 50, and making the driver alert.

Referring further to FIG. 4 , taking the warning device 30 as a warning light as an example, the controller 20 can divide the total risk level score S into multiple levels. The controller 20 calculates the total risk level score S according to the calculated total risk level score. Whether S exceeds a warning preset value is determined whether to generate the warning signal W, and the warning signal W corresponding to different warning modes is generated according to the value of the total risk level score S exceeding the warning preset value. For example, taking 3 as the warning default value, when the total risk level score S is less than 3, the controller 20 determines that the danger posed by the object 60 to the vehicle 50 is low, and therefore does not generate the warning signal W; When it is greater than or equal to 3 and less than or equal to 5, the controller 20 determines that the object 60 has a low risk to the vehicle 50, and the controller 20 generates a warning signal W corresponding to the warning light that is always on; when the total risk level score When S is greater than or equal to 6 and less than or equal to 8, the controller 20 determines that the object 60 poses a medium risk to the vehicle 50, and the controller 20 generates a warning signal W corresponding to the low-frequency flashing of the warning light; when the danger level When the total score S is greater than or equal to 8, the controller 20 determines that the object 60 is highly dangerous to the vehicle 50, and the controller 20 generates a warning signal W corresponding to the warning light that is always on. In addition, when the When the warning device 30 is a buzzer, the warning device can generate warning modes corresponding to different warning signals W by changing factors such as the height and interval of the warning sound; when the warning device 30 is a vibrator, the warning device Warning modes corresponding to different warning signals W can be generated by changing factors such as the vibration size and frequency of the warning vibration.

As shown in FIGS. 1 and 2 , the blind spot detection device 10 includes a computing unit 12 , which is connected to the ranging unit 11 . In addition to detecting the relative distance between the object 60 and the vehicle 50 in the blind spot, The vehicle blind spot detection system of the present invention can detect the object 60 a plurality of times within a preset time through the ranging unit 11 of the blind spot detection device 10, and the computing unit 12 obtains the result based on the plurality of detections. A plurality of lateral relative distances A corresponding lateral risk parameter A is calculated based on the last received lateral relative distance X, a corresponding directional risk parameter B is calculated based on the last received vertical relative distance Y, and based on the relative speed difference V The calculation generates a corresponding speed difference risk parameter C, and then calculates the summed value of the lateral risk parameter A, the vertical risk parameter B and the speed difference risk parameter C to generate a risk level total score S. The total risk level score S determines whether the warning signal W is generated.

Taking the distance measurement unit 11 to perform two detections as an example, the computing unit 12 can calculate the distance difference between a first lateral relative distance X1 and a second lateral relative distance X2, a first vertical relative distance Y1 and a vertical relative distance. The relative speed difference V between the object 60 and the vehicle 50 between the two detections is calculated based on the distance difference between the distance Y2 and the time interval between the two detections; taking the distance measurement unit 11 to perform three detections as an example, The computing unit 12 can calculate the distance difference between a first lateral relative distance X1 and a second lateral relative distance X2, a distance difference between a first longitudinal relative distance Y1 and a longitudinal relative distance Y2, and the first and second detection results. The time interval between measurements is used to calculate a first relative speed difference V1 between the object 60 and the vehicle 50 from the first detection to the second detection, based on the second lateral relative distance X2 and a third lateral relative distance The distance difference between the distance X3, the distance difference between the second vertical relative distance Y2 and the vertical relative distance Y3, and the time interval between the second and third detections are calculated from the second detection to the third time. A second relative speed difference V2 between the object 60 and the vehicle 50 during detection is calculated by using the first relative speed difference V1 and the second relative speed difference V2 to calculate the speed difference between the object 60 and the vehicle 50 during the three detections. The relative speed difference V can also be directly determined by the distance difference between the first lateral relative distance X1 and the third lateral relative distance X3, the distance difference between the first straight relative distance Y1 and the straight relative distance Y3, and the first The time interval between the first and third detections is used to calculate the relative speed difference V between the object 60 and the vehicle 50 from the first detection to the third detection.

As shown in FIG. 5 , the relative speed difference V between the object 60 and the vehicle 50 will affect the driver's reaction time. For example, when the object 60 and the vehicle 50 are equally separated by 10 meters, the If the relative speed difference V between the object 60 and the vehicle 50 is less than 1 m/s, the driver will have more than 10 seconds to dodge or stay away from the object 60, and when the relative speed difference between the object 60 and the vehicle 50 is greater than At 10m/s, the driver has less than 1 second to react. Therefore, when the relative speed difference V is larger, it means that the object 60 is more likely to cause danger to the driver. The controller 20 can store The controller 20 uses a look-up table method to generate different values of the speed difference risk parameter C according to the different relative speed differences V. For example, when When the relative speed difference V is less than 1m/s, the controller 20 determines that the value of the speed difference dangerous parameter C is 0; when the relative speed difference V is greater than or equal to 1m/s and less than 2.7m/s, the controller 20 20 determines that the value of the speed difference dangerous parameter C is 1; when the relative speed difference V is greater than or equal to 2.7m/s and less than 6.67m/s, the controller 20 determines that the value of the speed difference dangerous parameter C is 2; When the relative speed difference V is greater than or equal to 6.67m/s and less than 10m/s, the controller 20 determines that the value of the speed difference danger parameter C is 3; when the relative speed difference V is greater than or equal to 10m/s and less than When 13.8m/s, the controller 20 determines that the value of the speed difference risk parameter C is 4. The numerical boundary of the speed difference risk parameter C can be adjusted for different vehicles or different driving environments, and is not limited to this embodiment. .

As shown in Figures 6A to 6E, Figures 6A to 6E show that when the value of the speed difference risk parameter C is 0 to 4, under different lateral risk parameters A and vertical risk parameters B, the total risk level score A presentation table of the numerical value of S. The controller 20 sums the lateral danger parameter A, the vertical danger parameter B and the speed difference danger parameter C to generate the danger level total score S. When the danger level total score S is higher, , it represents a higher possibility of causing danger to the vehicle 50 , and FIGS. 6A to 6E show that when the object 60 is closer to the vehicle 50 , the risk level total score S is higher.

As shown in FIG. 1 , the controller 20 can be electrically connected to a vehicle operating interface 40 of the vehicle 50 . The vehicle operating interface 40 is used to generate an operating signal according to different operating states of the vehicle 50 by the user. The controller 20 The operation signal generated by the vehicle operation interface 40 is received, and an action weighting parameter D is generated according to the operation signal. When the user controls the vehicle 50 to perform steering, acceleration, braking, etc. operations, the object 60 in the blind spot affects the vehicle. The risk caused by the vehicle 50 is higher than when the vehicle 50 is traveling straight. Therefore, the controller 20 can understand the user's current operation action on the vehicle 50 through the operation signal generated by the vehicle operation interface 40, and based on different operation signals Different action weighting parameters D are generated, and the controller 20 incorporates the action weighting parameters D into the calculation of the risk level total score S, and combines the lateral risk parameter A, the vertical risk parameter B, and the speed difference risk parameter C and the action weighting parameter D are added together to generate the risk level total score S, and then it is determined whether to generate the warning signal W based on the risk level total score S, thereby taking the user's operation actions of the vehicle 50 into consideration of the risk. . Referring further to FIG. 7 , the controller 20 can store comparison information of the action weighting parameter D corresponding to different operation signals, and the controller 20 generates different values according to the different operation signals using a table lookup method. The action weighting parameter D is. In this embodiment, the vehicle operation interface 40 can be connected to the direction lights and brakes of the vehicle 50. When the vehicle 50 turns on the direction lights or triggers the brakes, the vehicle operation interface 40 generates a corresponding According to the direction light signal E or a braking signal F, the controller 20 generates the action weighting parameter D corresponding to turning on the direction light according to the direction light signal E, or generates the action weighting parameter D corresponding to the braking trigger according to the braking signal F.

As shown in FIG. 8 , in a second embodiment, the difference between the second embodiment and the first embodiment is that the blind spot detection device 10 includes a computing unit 12 , the lateral danger parameter A, the vertical danger parameter B. The calculation of the speed difference danger parameter C, the action weighting parameter D and the danger level total score S is executed by the operation unit 12, and the operation unit 12 determines whether to generate the warning signal W based on the danger level total score S. The user issues a warning, and the controller 20 is responsible for transmitting the operation signal of the vehicle operation interface 40 such as a turn signal E or a brake signal F to the computing unit 12 and receiving the warning signal generated by the computing unit 12 W, the controller 20 uses the warning signal W to control the warning device 30 to issue a warning, wherein the controller 20 can be the entire vehicle controller 20 of the vehicle 50 .

As shown in FIG. 9 , in a third embodiment, the difference between the third embodiment and the second embodiment is that the computing unit 12 of the blind spot detection device 10 is electrically connected to the warning device 30 , and the computing unit 12 Calculate and generate the lateral danger parameter A, the vertical danger parameter B, the speed difference danger parameter C, the action weighting parameter D and the danger level total score S, and determine whether to generate the warning signal W based on the danger level total score S To warn the user, when the computing unit 12 generates the warning signal W, the computing unit 12 uses the warning signal W to control the warning device 30 to issue a warning.

As shown in FIG. 10 , in a fourth embodiment, the vehicle blind spot detection system of the present invention is applicable to a vehicle. The vehicle blind spot detection system includes a blind spot detection device 10 and a warning device 30 , and the blind spot detection system The measuring device 10 includes a distance measuring unit 11 and a computing unit 12. In this embodiment, the computing unit 12 receives a lateral relative distance X and a longitudinal relative distance Y detected by the ranging unit 11, and generates a lateral hazard. Parameter A, a directional danger parameter B and a speed difference danger parameter C, and the blind spot detection device 10 can be electrically connected to a vehicle operating interface 40 of the vehicle. The computing unit 12 receives the vehicle operating interface 40 according to the vehicle's Different operating states generate an operation signal such as a direction light signal E or a brake signal F. The operation unit 12 generates an action weighting parameter D according to the operation signal. The operation unit 12 calculates the lateral danger parameter A, the vertical risk parameter A and the like. The sum of the risk parameter B, the speed difference risk parameter C and/or the action weighting parameter D generates a risk level total score S, and determines whether to generate a warning signal W based on the risk level total score S. The computing unit 12 then The warning signal W is used to control the warning device 30 to issue a warning.

To sum up, the vehicle blind spot detection system of the present invention uses the ranging unit 11 to detect objects in the blind spot of the vehicle, determine whether there are objects or obstacles in the blind spot, and detect the lateral relative distance between the object and the vehicle X and The vertical relative distance Y is then used by the controller 20 or the computing unit 12 to generate different lateral risk parameters A and the vertical risk parameter according to the lateral relative distance X and the vertical relative distance Y of different distance sizes. B, and the computing unit 12 can calculate the relative speed difference V between the object and the vehicle in the blind zone based on multiple lateral relative distances X and vertical relative distances Y. The controller 20 or the computing unit 12 then uses the relative speed The difference V generates the speed difference risk parameter C, and generates the action weighting parameter D according to different operations of the vehicle. The controller 20 or the motion unit 12 generates the speed difference risk parameter D according to the lateral risk parameter A, the vertical risk parameter B, and the speed difference risk. The risk level total score S generated by summing the parameter C and/or the action weighting parameter D determines whether to generate the warning signal W to warn the user. In addition, the controller 20 or the computing unit 12 determines whether to generate the warning signal W to warn the user. In addition, the controller 20 or the computing unit 12 determines whether The danger level parameter S generates the warning signal W corresponding to different warning modes, so that the warning device can assist the user in understanding the blind spot information in different warning modes and improve the driver's driving safety.

10: Blind spot detection device 11: Ranging unit 12:Arithmetic unit 20:Controller 30: Warning device 40: Vehicle operation interface 50:Vehicle 60:Object 70:Locomotive 71: Rear view mirror A: Horizontal hazard parameters B: Vertical hazard parameters C: Speed difference dangerous parameters D: Action weighting parameters E: Turn signal F: Brake signal L: central axis M: Alarm range N: Alarm ignore range T, Q: blind area S: total risk level score V: relative speed difference W: warning signal X: horizontal relative distance Y: vertical relative distance

Figure 1: Block diagram of the first embodiment of the vehicle blind spot detection system of the present invention. Figure 2: Schematic diagram of object detection by the blind spot detection device. Figure 3A: Hierarchical chart of lateral hazard parameters. Figure 3B: Hierarchical chart of vertical hazard parameters. Figure 4: Grading chart of total hazard level score. Figure 5: Hierarchical chart of speed differential hazard parameters. Figure 6A: Chart of the total risk level score when the value of the speed difference risk parameter is 0. Figure 6B: A graph of the total risk level score when the value of the speed difference risk parameter is 1. Figure 6C: A chart of the total risk level score when the value of the speed difference risk parameter is 2. Figure 6D: A chart of the total risk level score when the value of the speed difference risk parameter is 3. Figure 6E: Chart of the total risk level score when the value of the speed difference risk parameter is 4. Figure 7: Correspondence chart between action weighting parameters and user operations. Figure 8: A block diagram of the second embodiment of the vehicle blind spot detection system of the present invention. Figure 9: Block diagram of the third embodiment of the vehicle blind spot detection system of the present invention. Figure 10: Block diagram of the fourth embodiment of the vehicle blind spot detection system of the present invention. Figure 11: Schematic diagram of the blind area of vehicle vision.

10: Blind spot detection device

11: Ranging unit

12:Arithmetic unit

20:Controller

30: Warning device

40: Vehicle operation interface

E: Turn signal

F: Brake signal

V: relative speed difference

W: warning signal

X: horizontal relative distance

Y: vertical relative distance

Claims (6)

A vehicle blind spot detection system, suitable for a vehicle, the vehicle blind spot detection system includes a blind spot detection device, a controller and a warning device; the blind spot detection device includes a ranging unit, the ranging unit is in a Detect a lateral relative distance and a longitudinal relative distance between an object and the vehicle within the detection range, where the detection range is divided into an alarm range and an alarm ignore range; the controller is electrically connected to the blind spot detection device, The controller calculates and generates different lateral risk parameters based on the length of the lateral relative distance. Different lateral risk parameters correspond to different values, and calculates and generates different directional risk parameters based on the length of the vertical relative distance. Different lateral risk parameters are calculated. The vertical hazard parameter corresponds to different values; wherein, the blind spot detection device includes a computing unit, the ranging unit detects the object multiple times within a preset time, and the computing unit uses multiple lateral relative distances and The complex vertical relative distance calculates a relative speed difference between the object and the vehicle, and the controller calculates the lateral risk parameter based on the lateral relative distance generated by the last detection, and generates the lateral risk parameter based on the vertical relative distance generated by the last detection. The distance calculation generates the direct danger parameter, and the relative speed difference calculation generates a speed difference danger parameter; wherein the controller is electrically connected to a vehicle operating interface of the vehicle, and the vehicle operating interface is based on different operating states of the vehicle. Generate an operation signal, the controller receives the operation signal generated by the vehicle operation interface, and generates an action weighting parameter based on the operation signal, and the controller combines the lateral risk parameter, the vertical risk parameter, and the speed difference risk The sum of the parameters and the weighted parameters of the action generates the total score of the risk level, and the controller determines whether to generate a warning signal based on the total score of the risk level; the warning device is electrically connected to the controller, and the warning device issues a warning based on the warning signal. ; Among them, the controller determines whether to generate the warning signal based on whether the total score of the risk level exceeds a warning preset value, and generates a corresponding response based on the value of the total score of the risk level that exceeds the warning preset value. The warning signals of different warning modes, the warning device generates different levels of warnings according to the warning signals corresponding to different warning modes; wherein, the operation signal is a direction light signal or a braking signal. When the direction light of the vehicle is turned on, The vehicle operating interface generates the direction light signal; when the vehicle brakes, the vehicle operating interface generates the braking signal. A vehicle blind spot detection system, suitable for a vehicle, the vehicle blind spot detection system includes a blind spot detection device and a warning device; the blind spot detection device includes: a ranging unit, the ranging unit is in a detection unit Detect a lateral relative distance and a directional relative distance between an object and the vehicle within the detection range, wherein the detection range is divided into a warning range and a warning ignoring range; and a computing unit, the computing unit is based on the lateral relative distance The calculation of the length of the distance produces different lateral risk parameters, and the different lateral risk parameters correspond to different values, and the calculation of the length of the vertical relative distance produces different vertical risk parameters, and the different vertical risk parameters correspond to Different values; wherein, the distance measurement unit detects the object multiple times within a preset time, and the computing unit calculates a relative speed difference between the object and the vehicle using a plurality of lateral relative distances and a plurality of vertical relative distances, And the computing unit calculates and generates the lateral risk parameter based on the lateral relative distance generated by the last detection, calculates and generates the vertical risk parameter based on the vertical relative distance generated by the last detection, and calculates and generates the vertical risk parameter based on the relative speed difference. A speed difference danger parameter; wherein, the blind spot detection device is electrically connected to a vehicle operating interface of the vehicle, the vehicle operating interface generates an operating signal according to different operating states of the vehicle, and the computing unit receives the vehicle through the controller The operation signal generated by the operation interface generates an action weighting parameter according to the operation signal, and the computing unit combines the lateral risk parameter, the vertical risk parameter, the speed difference risk parameter and the The sum of action weighted parameters generates the total risk level score, and the computing unit determines whether to generate a warning signal based on the total risk level score; the warning device issues a warning based on the warning signal; wherein, the computing unit determines whether to generate a warning signal based on the total risk level score. Whether the warning signal is generated is determined by whether it exceeds a warning preset value, and the warning signal corresponding to different warning modes is generated based on the numerical value of the total risk level score exceeding the warning preset value. The warning device is based on the value corresponding to the different warning modes. The warning signal generates different levels of warnings; wherein, the operation signal is a direction light signal or a braking signal. When the vehicle's direction light is turned on, the vehicle operating interface generates the direction light signal; when the vehicle brakes, The vehicle operating interface generates the braking signal. The vehicle blind spot detection system as described in claim 2, the vehicle blind spot detection system includes a controller, the controller is connected to the blind spot detection device and the warning device, and the controller controls the warning device to perform operations according to the warning signal. warning. For the vehicle blind spot detection system described in claim 2, the warning device is connected to the blind spot detection device, and the computing unit controls the warning device to issue a warning based on the warning signal. As for the vehicle blind spot detection system described in claim 2, the vehicle blind spot detection device includes a controller, the controller is electrically connected to the vehicle operating interface of the vehicle, and the vehicle operating interface generates signals according to different operating states of the vehicle. The operation signal, the operation unit receives the operation signal generated by the vehicle operation interface through the controller, and generates the action weighting parameter according to the operation signal, and the operation unit combines the lateral risk parameter, the vertical risk parameter, the The sum of the speed difference risk parameters and the action weighting parameters produces the total risk level score. For the vehicle blind spot detection system described in claim 1 or 2, the warning device is a buzzer, a warning light or a vibrator.

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