The invention relates to a reversing passing collision early warning method and system based on a millimeter wave radar. The method comprises the following steps: acquiring target point cloud information of a current frame in real time through a millimeter-wave radar; establishing a vehicle coordinate system, and calculating a left blind area and a right blind area; according to the target point cloud information, whether a target is located in the left blind area and/or the right blind area in the current frame is judged; responding to the situation that the target is located in the left blind area and/or the right blind area, and obtaining position information and size information of the target in the vehicle coordinate system; constructing a polygonal region corresponding to the target; calculating the intersection-to-union ratio; in response to the intersection-to-union ratio being greater than zero, determining that the target has entered a blind area; when the target enters the blind area, collision risk judgment is carried out according to the moving tracks of the vehicle and the target. The target entering the left and right blind areas can be rapidly detected, and the reliability and the accuracy of the early warning system are remarkably improved.
本发明涉及一种基于毫米波雷达的倒车穿行碰撞预警方法及系统。本发明包括通过毫米波雷达实时获取当前帧的目标点云信息;建立车辆坐标系,并计算左侧盲区和右侧盲区;根据所述目标点云信息,判断目标在当前帧是否位于所述左侧盲区和/或所述右侧盲区内;响应于所述目标位于所述左侧盲区和/或所述右侧盲区内,得到所述目标在所述车辆坐标系中的位置信息和尺寸信息;构建所述目标对应的多边形区域;计算交并比;响应于所述交并比大于零,确定所述目标已进入盲区;当所述目标已进入盲区后,根据自车与所述目标各自的运行轨迹,进行碰撞风险判定。本发明能够快速检测出进入左右盲区的目标,显著提升预警系统的可靠性和准确性。
Reversing passing collision early warning method and system based on millimeter wave radar
一种基于毫米波雷达的倒车穿行碰撞预警方法及系统
2025-05-23
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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