# US 12,008,906 B2 · Method and system of blind spot detection for a vehicle

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- Number: US 12,008,906 B2
- Document ID: US12008906B2
- Status: Granted
- Kind: B2
- Application number: 17/556,281
- Filed: 2021-12-20
- Published: 2022-09-08
- Granted: 2024-06-11
- Earliest claimed: 2021-03-04
- Assignees: Industrial Technology Research Institute
- Applicants: Industrial Technology Research Institute
- Inventors: Chung-Lien Ho; Wei-Kuo Chen
- Web page: https://patentgrep.com/patent/US12008906B2

## CPC

- G01S 13/86: Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection}
- B60Q 9/008: {for anti-collision purposes}
- G01S 7/003: {Transmission of data between radar, sonar or lidar systems and remote stations}
- G01S 7/2813: {Means providing a modification of the radiation pattern for cancelling noise, clutter or interfering signals, e.g. side lobe suppression, side lobe blanking, null-steering arrays (specially adapted to secondary radar systems G01S13/762; aerials or aerials systems H01Q21/29, H01Q25/00)}
- G01S 13/931: of land vehicles
- G07C 5/0808: {Diagnosing performance data (testing of vehicles G01M17/00; testing of electrical installation on vehicles G01R31/005)}
- G01S 2013/9315: {Monitoring blind spots}
- 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
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})
- B60Q: ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- G07C: TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE

## Abstract

A method of blind spot detection is provided. The method of blind spot detection is used for a vehicle including a first vehicle body and a second vehicle body dragged by the first vehicle body. The method of blind spot detection comprises the following steps: obtaining a turning angle information of the second vehicle body relative to the first vehicle body by a first sensor while the vehicle is moving; determining a predetermined information related to the vehicle and/or a second sensor; dynamically defining a blind spot area around the vehicle according to the turning angle information and the predetermined information; and receiving a sensing signal regarding an object around the vehicle from the second sensor to determine whether the object is located in the blind spot area.

## Claims

### Claim 1

A method of blind spot detection for a vehicle, wherein the vehicle includes a first vehicle body and a second vehicle body dragged by the first vehicle body, the method of blind spot detection comprising:
obtaining a turning angle information of the second vehicle body relative to the first vehicle body by a first sensor while the vehicle is moving;
determining a predetermined information related to the vehicle and a second sensor wherein the step of determining the predetermined information related to the vehicle and the second sensor comprises:
determining a coordinate where the second sensor is installed on the first vehicle body;
dynamically defining a blind spot area around the vehicle according to the turning angle information and the predetermined information; and
receiving a sensing signal regarding an object around the vehicle from the second sensor to determine whether the object is located in the blind spot area.

### Claim 2 (depends on 1)

The method of blind spot detection according to claim 1, further comprising:
activating a warning device in response to determining the object is located in the blind spot area.

### Claim 3 (depends on 1)

The method of blind spot detection according to claim 1, wherein the step of determining the predetermined information related to the vehicle and the second sensor comprises:
determining a dimension information about the first vehicle body and the second vehicle body.

### Claim 4 (depends on 3)

The method of blind spot detection according to claim 3, wherein the dimension information is about a width of the first vehicle body and a width of the second vehicle body, and in response to that the width of the first vehicle body is less than the width of the second vehicle body, the predetermined information further includes a shading angle information formed by the second vehicle body shielding the second sensor.

### Claim 5 (depends on 1)

The method of blind spot detection according to claim 1, wherein the step of determining the predetermined information related to the vehicle and the second sensor comprises:
determining a sensing performance information about the second sensor.

### Claim 6 (depends on 5)

The method of blind spot detection according to claim 5, wherein the sensing performance information is a maximum detectable field-of-view of the second sensor.

### Claim 7 (depends on 1)

The method of blind spot detection according to claim 1, wherein the step of determining the predetermined information related to the vehicle and the second sensor comprises:
determining a dimension information about the first vehicle body and the second vehicle body; and
determining a sensing performance information about the second sensor.

### Claim 8 (depends on 7)

The method of blind spot detection according to claim 7, wherein the dimension information is about a width of the first vehicle body and a width of the second vehicle body, and when the second sensor is determined to be installed on the first vehicle body and the width of the first vehicle body is determined to be less than the width of the second vehicle body, the method of blind spot detection further comprises:
determining a shading angle information formed by the second vehicle body shielding the second sensor; and
dynamically defining the blind spot area according to the turning angle information, the dimension information, the location information, the sensing performance information and the shading angle information.

### Claim 9

A system of blind spot detection for a vehicle, wherein the vehicle includes a first vehicle body and a second vehicle body dragged by the first vehicle body, the system of blind spot detection comprising:
a first sensor configured to obtain a turning angle information of the second vehicle body relative to the first vehicle body while the vehicle is moving;
a second sensor configured to sense an object approaching the vehicle; and
a processor communicating with the first sensor and the second sensor and configured to determine a predetermined information related to the vehicle and a second sensor, dynamically define a blind spot area around the vehicle according to the turning angle information and the predetermined information, and receive a sensing signal regarding the object from the second sensor to determine whether the object is located in the blind spot area,
wherein the determining the predetermined information related to the vehicle and the second sensor by the processor comprises determining a coordinate where the second sensor is installed on the first vehicle body.

### Claim 10 (depends on 9)

The system of blind spot detection according to claim 9, wherein the processor activates a warning device in response to that the processor determines that the object is located in the blind spot area.

### Claim 11 (depends on 9)

The system of blind spot detection according to claim 9, wherein the determining the predetermined information related to the vehicle and the second sensor by the processor comprises determining a dimension information about the first vehicle body and the second vehicle body.

### Claim 12 (depends on 11)

The system of blind spot detection according to claim 11, wherein the dimension information is about a width of the first vehicle body and a width of the second vehicle body, and in response to that the width of the first vehicle body is less than the width of the second vehicle body, the processor further determines a shading angle information formed by the second vehicle body shielding the second sensor.

### Claim 13 (depends on 9)

The system of blind spot detection according to claim 9, wherein the determining the predetermined information related to the vehicle and the second sensor by the processor comprises determining a sensing performance information about the second sensor.

### Claim 14 (depends on 13)

The system of blind spot detection according to claim 13, wherein the sensing performance information is a maximum detectable field-of-view of the second sensor.

### Claim 15 (depends on 9)

The system of blind spot detection according to claim 9, wherein the determining the predetermined information related to the vehicle and the second sensor by the processor comprises determining a dimension information about the first vehicle body and the second vehicle body and determining a sensing performance information about the second sensor.

### Claim 16 (depends on 15)

The system of blind spot detection according to claim 15, wherein the dimension information is about a width of the first vehicle body and a width of the second vehicle body, and when the processor determines that the second sensor is installed on the first vehicle body and the processor determines that the width of the first vehicle body is less than the width of the second vehicle body, the processor further determines a shading angle information formed by the second vehicle body shielding the second sensor, and dynamically defines the blind spot area according to the turning angle information, the dimension information, the location information, the sensing performance information and the shading angle information.