CN104742791A - Door-opening pre-alarm system based on Doppler millimeter wave radar and control method thereof - Google Patents
Door-opening pre-alarm system based on Doppler millimeter wave radar and control method thereof Download PDFInfo
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Abstract
The invention belongs to the field of automobile active safety technologies, and particularly relates to a door-opening pre-alarm system based on Doppler millimeter wave radar. The door-opening pre-alarm system comprises an automobile speed signal collecting unit, an automobile door opening and closing signal collecting unit, the millimeter wave radar and a main control unit. The automobile speed signal collecting unit is used for collecting automobile speed signals. The automobile door opening and closing signal collecting unit is used for collecting opening and closing signals of an automobile left door and/or an automobile right door. The millimeter wave radar is used for collecting signals of other vehicles or passersby behind an automobile. The main control unit receives the signals output by the automobile speed signal collecting unit, the automobile door opening and closing signal collecting unit and the millimeter wave radar, analyzes and processes the signals and then transmits a control signal to an alarm unit to control the alarm unit to be started or shut down. The invention further discloses a control method of the system. The Doppler millimeter wave radar is adopted for achieving the door-opening pre-alarm function, the cost is low, and the structure is simple; the radar algorithm and logic control software can be integrated on the same DSP, at the later stage, the system can be matched with the whole automobile through a calibration algorithm, and the door-opening pre-alarm system is easy to expand and wide in application range.
Description
Technical field
The invention belongs to automobile active safety technical field, particularly a kind of enabling forewarn system based on Doppler's millimeter wave radar and control method thereof.
Background technology
Along with the fast development of auto-industry, and the improving constantly of running car performance, the safety of automobile is more and more by people are paid attention to, and the effect that active safety technologies plays in vehicle safety is especially outstanding, and it can effective trouble-saving generation.
In traffic accident, owing to not splashing car door that rear vehicle condition causes when driver and crew open the door and get off and the accident that back car collides accounts for 6%, enabling forewarn system is an active safety technologies of exploitation in order to avoid such accident occurs just.Existing enabling forewarn system is mainly adopted and is realized in two ways, and one adopts vision camera to realize rear view of vehicle regionally detecting by vision, and this mode detection range is limited, low precision; Another adopts frequency modulated continuous wave radar technology, this radar system can the measurement of the relative distance of realize target, orientation angles and speed, the particular location in accurate judgement target region in the wings, realizes opening the door more accurately early warning, but adopts the system cost of this radar high.
Summary of the invention
Primary and foremost purpose of the present invention is to provide a kind of enabling forewarn system based on Doppler's millimeter wave radar, realizes the enabling forewarn system of low cost.
For realizing above object, the technical solution used in the present invention is: a kind of enabling forewarn system based on Doppler's millimeter wave radar, comprises the vehicle speed signal collecting unit for gathering this vehicle speed signal; For gathering the door contact interrupter signal gathering unit of the opening and closing signal of car door and/or right side car door on the left of this car; For gathering the millimeter wave radar of other vehicles or pedestrians signals of this car rear; And main control unit, described main control unit receives the signal of vehicle speed signal collecting unit, door contact interrupter signal gathering unit, millimeter wave radar output, and outputs control signals to the start and stop that alarm unit controls alarm unit after carrying out analyzing and processing to signal.
Compared with prior art, there is following technique effect in the present invention: adopt Doppler's millimeter wave radar to realize enabling warning function, cost is low, structure is simple; Simultaneously Radar Algorithm and the equal accessible site of logical control program are on a dsp processor, subsequently through the coupling of calibration algorithm and feasible system and car load, and easily expansion and applicability is wide.
Another object of the present invention is the control method providing a kind of enabling forewarn system based on Doppler's millimeter wave radar, realizes the enabling forewarn system of low cost.
For realizing above object, the technical solution used in the present invention is: a kind of control method of the enabling forewarn system based on Doppler's millimeter wave radar, when comprising the steps: that (A) vehicle ignition key is in ACC or ON shelves state, system electrification brings into operation; (B) according to the vehicle speed signal that vehicle speed signal collecting unit inputs, main control unit judges whether vehicle is in halted state, if vehicle is in running state, main control unit exports without control signal; If vehicle is in halted state, carry out step C, D; (C), after the time of delay adjustments, system cut-off is closed; (D) main control unit receives this car of signal determining rear that millimeter wave radar exports with or without the vehicles or pedestrians travelled towards this car, if having, lightening LED lamp also enters step e, if without, representing can Safe getting-off; (E) when driver and crew stir grip handle prepare get off time, main control unit receive door contact interrupter signal gathering unit export signal after output control signals to buzzer phone carry out audible alarm prompting driver and crew.
Compared with prior art, there is following technique effect in the present invention: adopt Doppler's millimeter wave radar to realize enabling warning function, cost is low, structure is simple; Simultaneously Radar Algorithm and the equal accessible site of logical control program are on a dsp processor, subsequently through the coupling of calibration algorithm and feasible system and car load, and easily expansion and applicability is wide.
Accompanying drawing explanation
Fig. 1 is functional block diagram of the present invention;
Fig. 2 is the structural representation of radar front end module of the present invention;
Fig. 3 is schematic flow sheet of the present invention;
Fig. 4 is the using state schematic diagram of the embodiment of the present invention one.
Detailed description of the invention
Below in conjunction with Fig. 1 to Fig. 4, the present invention is described in further detail.
Consult Fig. 1, a kind of enabling forewarn system based on Doppler's millimeter wave radar, comprising: for gathering the vehicle speed signal collecting unit 10 of this vehicle speed signal; For gathering the door contact interrupter signal gathering unit 20 of the opening and closing signal of car door and/or right side car door on the left of this car; For gathering the millimeter wave radar 30 of other signals of vehicles of this car rear; And main control unit 40, described main control unit 40 receives the signal of vehicle speed signal collecting unit 10, door contact interrupter signal gathering unit 20, millimeter wave radar 30 output, and outputs control signals to the start and stop that alarm unit 50 controls alarm unit 50 after carrying out analyzing and processing to signal.Generally needing to open car door is all carry out when stopping, therefore also gathers the information of the speed of a motor vehicle here.When vehicle stops, by judging to get off whether safety with or without other vehicles or pedestrians to the opening and closing signal of car door and rear view of vehicle, then by alarm unit 50 Real-time Feedback, ensure safety when getting off.
Particularly, described millimeter wave radar 30 comprises radar front end module 31, filter amplification circuit 32 and A/D convertor circuit 33, radar front end module 31 realizes the detection of rear view of vehicle region moving target for transmitting and receiving microwave signal, filter amplification circuit 32 carries out filtering, amplification for the echoed signal exported radar front end, and A/D convertor circuit 33 exports main control unit 40 to after carrying out analog-to-digital conversion process to the signal after amplification.
To open the door owing to stopping the car door car door of road (namely by) place generally appearing at the side that keeps left that to collide with rear car, the car door on right side is near footway, generally there will not be collision, but consider that battery-driven car and motor bike exist, also need sometimes to monitor right side.Therefore this provide two kinds of embodiments, only carry out danger warning prompting to opening left side car door in embodiment one; Embodiment two has alarm to opening both sides vehicle.Particularly, two embodiment schemes are as follows:
Embodiment one, described door contact interrupter signal gathering unit 20 only gathers the opening and closing signal at Qianmen and back door, left side on the left of this car, the leftward position place that millimeter wave radar 30 is positioned at this car rear for monitoring left side car door rear area, opening and closing signal control alarm unit 50 action at the signal that main control unit 40 exports according to millimeter wave radar 30 and Qianmen, left side, back door, left side.
Embodiment two, described door contact interrupter signal gathering unit 20 gathers the opening and closing signal at Qianmen on the left of this car, back door, left side, Qianmen, right side and back door, right side; Millimeter wave radar 30, alarm unit 50 are provided with two groups, and two groups of millimeter wave radars 30 lay respectively at the both sides at this car rear; The millimeter wave radar 30 in left side for monitoring the region at car door rear, left side, opening and closing signal control wherein group alarm unit 50 action at the signal that main control unit 40 exports according to the millimeter wave radar 30 in left side and Qianmen, left side, back door, left side; The millimeter wave radar 30 on right side for monitoring the region at car door rear, right side, another group alarm unit 50 action of opening and closing signal control at the signal that main control unit 40 exports according to the millimeter wave radar 30 on right side and Qianmen, right side, back door, right side.
Consult Fig. 2, particularly, described radar front end module 31 comprises oscillator, high-frequency signal is passed to the first power divider by the microwave signal that oscillator produces after bandpass filter filtering high order harmonic, microwave signal is divided into two by the first power divider, one tunnel exports the second power divider to, another road is directly gone out by micro-band transmission antennas transmit, and the echoed signal of reflection carries out exporting the 3rd power divider after elementary low noise amplification to through low noise amplifier again after Microstrip Receiving Antenna receives; The signal of reception is divided into two by the second power divider, and a road directly exports the first frequency mixer to, and another road exports the second frequency mixer to after phase shifter phase shift; The signal of reception is divided into two by the 3rd power divider, exports first and second frequency mixer respectively to; The signal that first and second frequency mixer exports exports filter amplification circuit 32 to respectively through after first and second active low-pass filter.There is detailed description in the patent of invention " the radar front end module for the forewarn system that opens the door " that radar front end module 31 is declared on the same day in our company, just repeat no more here.
Preferably, described alarm unit 50 comprises LED 51 and buzzer phone 52.LED 51 is used to indicate rear and is safe from danger vehicle, buzzer phone 52 then for warning unsafe condition, namely rear have vehicle near and car door is opened time.
Consult Fig. 3, additionally provide a kind of control method of the enabling forewarn system based on Doppler's millimeter wave radar here, when comprising the steps: that (A) vehicle ignition key is in ACC or ON shelves state, system electrification brings into operation; (B) according to the vehicle speed signal that vehicle speed signal collecting unit 10 inputs, main control unit 40 judges whether vehicle is in halted state, if vehicle is in running state, main control unit 40 exports without control signal; If vehicle is in halted state, carry out step C, D; (C), after the time of delay adjustments, system cut-off is closed; (D) main control unit 40 receives this car of signal determining rear that millimeter wave radar 30 exports with or without the vehicle travelled towards this car, if having, lightening LED lamp 51 also enters step e, if without, representing can Safe getting-off; (E) when driver and crew stir grip handle prepare get off time, main control unit 40 receive door contact interrupter signal gathering unit 20 export signal after output control signals to buzzer phone 52 carry out audible alarm prompting driver and crew.The time set in described step C is 10 ~ 20min.In general, someone needs to open car door when getting off, and all being complete in a few minutes after vehicle stops, the delay adjustments in step C, exactly in order to reduce the energy consumption of system.
Consult Fig. 4, a pair the present invention is specifically described in conjunction with the embodiments here.In the application scenarios of reality, alarm region for three kinds of typical detection targets, bicycle, motor bike and self-propelled vehicle, alarm region as shown in FIG., wherein dotted line L1 is corresponding in the installation site in tailstock portion with native system, and dotted line L2-L5 is parallel with dotted line L1, and dotted line L6-L8 is vertical with dotted line L1.Because bicycle, motor bike and self-propelled vehicle reflecting surface vary in size, the highest restriction speed of a motor vehicle is also different, so the minimum alarm region of correspondence is also different, the region that dotted line L2, L4, L6, L7 enclose is alarm region; And part beyond alarm region is removed for may alarm region in region that dotted line L3, L5, L6, L8 enclose, namely target vehicle in this region time, occupant opens car door and likely can report to the police.
For typical target bicycle, generally its alarm region L2 and L4 spacing are 4 meters, and the distance between L6 and L7 is 10 meters, and possible alarm region L3 and L5 spacing are 7 meters, and the distance between L6 and L8 is 20 meters.For typical target motor bike, generally its alarm region L2 and L4 spacing are 4 meters, and the distance between L6 and L7 is 13 meters, and possible alarm region L3 and L5 spacing are 8 meters, and the distance between L6 and L8 is 25 meters.For typical target self-propelled vehicle, generally its alarm region L2 and L4 spacing are 5 meters, and the distance between L6 and L7 is 17 meters, and possible alarm region L3 and L5 spacing are 9 meters, and the distance between L6 and L8 is 35 meters.
System adopts Doppler's millimeter wave radar I, Q two-way echoed signal by phase identification algorithm judge moving target and this car be relative near or away from, if moving target is away from this car, system is not reported to the police, if moving target is close to Ben Che and enter relative alarm region, here relative alarm region refers to: if enter alarm region, system performs follow-up warning certainly, if what enter is possible alarm region, system likely can perform follow-up warning, because when target vehicle is in possibility alarm region on the one hand, be not easy to monitor, on the other hand, when target vehicle is in possibility alarm region, less on the open the door impact that causes of this car.Follow-up alarm operation is namely: system is lighted LED and carried out visual alarm, if now driver and crew get off for opening car door, when stirring the moment of grip handle triggering door contact interrupter signal, system is blown a whistle by buzzer phone and is carried out sound sensation warning, reminding driver and crew now to open the door may be dangerous, should be noted that observation rear view of vehicle vehicle condition, when guaranteeing safe, open car door.
Claims (8)
1., based on an enabling forewarn system for Doppler's millimeter wave radar, it is characterized in that: comprise
For gathering the vehicle speed signal collecting unit (10) of this vehicle speed signal;
For gathering the door contact interrupter signal gathering unit (20) of the opening and closing signal of car door and/or right side car door on the left of this car;
For gathering the millimeter wave radar (30) of other vehicles or pedestrians signals of this car rear;
And main control unit (40), the signal that described main control unit (40) reception vehicle speed signal collecting unit (10), door contact interrupter signal gathering unit (20), millimeter wave radar (30) export, and the start and stop outputing control signals to after analyzing and processing is carried out to signal that alarm unit (50) controls alarm unit (50).
2. as claimed in claim 1 based on the enabling forewarn system of Doppler's millimeter wave radar, it is characterized in that: described millimeter wave radar (30) comprises radar front end module (31), filter amplification circuit (32) and A/D convertor circuit (33), radar front end module (31) realizes the detection of rear view of vehicle region moving target for transmitting and receiving microwave signal, filter amplification circuit (32) carries out filtering for the echoed signal exported radar front end, amplify, A/D convertor circuit (33) exports main control unit (40) to after carrying out analog-to-digital conversion process to the signal after amplification.
3. as claimed in claim 1 based on the enabling forewarn system of Doppler's millimeter wave radar, it is characterized in that: described door contact interrupter signal gathering unit (20) only gathers the opening and closing signal at Qianmen and back door, left side on the left of this car, the leftward position place that millimeter wave radar (30) is positioned at this car rear for monitoring left side car door rear area, opening and closing signal control alarm unit (50) action at the signal that main control unit (40) exports according to millimeter wave radar (30) and Qianmen, left side, back door, left side.
4. as claimed in claim 1 based on the enabling forewarn system of Doppler's millimeter wave radar, it is characterized in that: described door contact interrupter signal gathering unit (20) gathers the opening and closing signal at Qianmen on the left of this car, back door, left side, Qianmen, right side and back door, right side; Millimeter wave radar (30), alarm unit (50) are provided with two groups, and two groups of millimeter wave radars (30) lay respectively at the both sides at this car rear; The millimeter wave radar (30) in left side for monitoring the region at car door rear, left side, opening and closing signal control wherein group alarm unit (50) action at the signal that main control unit (40) exports according to the millimeter wave radar (30) in left side and Qianmen, left side, back door, left side; The millimeter wave radar (30) on right side for monitoring the region at car door rear, right side, another group alarm unit (50) action of opening and closing signal control at the signal that main control unit (40) exports according to the millimeter wave radar (30) on right side and Qianmen, right side, back door, right side.
5. as claimed in claim 2 based on the enabling forewarn system of Doppler's millimeter wave radar, it is characterized in that: described radar front end module (31) comprises oscillator, high-frequency signal is passed to the first power divider by the microwave signal that oscillator produces after bandpass filter filtering high order harmonic, microwave signal is divided into two by the first power divider, one tunnel exports the second power divider to, another road is directly gone out by micro-band transmission antennas transmit, the echoed signal of reflection carries out exporting the 3rd power divider after elementary low noise amplification to through low noise amplifier again after Microstrip Receiving Antenna receives, the signal of reception is divided into two by the second power divider, and a road directly exports the first frequency mixer to, and another road exports the second frequency mixer to after phase shifter phase shift, the signal of reception is divided into two by the 3rd power divider, exports first and second frequency mixer respectively to, the signal that first and second frequency mixer exports is respectively through exporting filter amplification circuit (32) after first and second active low-pass filter to.
6. the enabling forewarn system based on Doppler's millimeter wave radar as described in claim 3 or 4, is characterized in that: described alarm unit (50) comprises LED (51) and buzzer phone (52).
7., based on a control method for the enabling forewarn system of Doppler's millimeter wave radar, comprise the steps:
(A), when vehicle ignition key is in ACC or ON shelves state, system electrification brings into operation;
(B) according to the vehicle speed signal that vehicle speed signal collecting unit (10) inputs, main control unit (40) judges whether vehicle is in halted state, if vehicle is in running state, main control unit (40) exports without control signal; If vehicle is in halted state, carry out step C, D;
(C), after the time of delay adjustments, system cut-off is closed;
(D) main control unit (40) receives millimeter wave radar (30) this car of signal determining rear of exporting with or without the vehicles or pedestrians travelled towards this car, if have, lightening LED lamp (51) also enters step e, if without, representing can Safe getting-off;
(E) when driver and crew stir grip handle prepare to get off time, main control unit (40) outputs control signals to buzzer phone (52) and carries out audible alarm prompting driver and crew after receiving the signal that door contact interrupter signal gathering unit (20) exports.
8., as claimed in claim 7 based on the control method of the enabling forewarn system of Doppler's millimeter wave radar, it is characterized in that: the time set in described step C is 10 ~ 20min.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510119791.4A CN104742791A (en) | 2015-03-18 | 2015-03-18 | Door-opening pre-alarm system based on Doppler millimeter wave radar and control method thereof |
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| CN201510119791.4A CN104742791A (en) | 2015-03-18 | 2015-03-18 | Door-opening pre-alarm system based on Doppler millimeter wave radar and control method thereof |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104991253A (en) * | 2015-07-27 | 2015-10-21 | 芜湖市汽车产业技术研究院有限公司 | Wave radar system |
| CN105329167A (en) * | 2015-12-11 | 2016-02-17 | 安徽工程大学 | Vehicle door opening early warning system and safety protection method thereof |
| CN105416164A (en) * | 2015-12-02 | 2016-03-23 | 安徽工程大学 | Low-cost vehicle door opening early warning system and control method thereof |
| WO2017031670A1 (en) * | 2015-08-24 | 2017-03-02 | 深圳盈添电子有限公司 | Doppler microwave detection apparatus |
| CN109267891A (en) * | 2018-10-30 | 2019-01-25 | 昆山赛诺泰克工业科技有限公司 | Electric tail gate control system and control method based on millimeter wave |
| CN111907455A (en) * | 2019-05-08 | 2020-11-10 | 上海海拉电子有限公司 | Vehicle door opening early warning method and system |
| CN112440899A (en) * | 2019-08-28 | 2021-03-05 | 北京新能源汽车股份有限公司 | Vehicle door control method and device and vehicle |
| CN112918377A (en) * | 2019-12-06 | 2021-06-08 | 北京新能源汽车股份有限公司 | Control method, controller, system and vehicle for parking and door opening early warning |
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2015
- 2015-03-18 CN CN201510119791.4A patent/CN104742791A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104991253A (en) * | 2015-07-27 | 2015-10-21 | 芜湖市汽车产业技术研究院有限公司 | Wave radar system |
| WO2017031670A1 (en) * | 2015-08-24 | 2017-03-02 | 深圳盈添电子有限公司 | Doppler microwave detection apparatus |
| CN105416164A (en) * | 2015-12-02 | 2016-03-23 | 安徽工程大学 | Low-cost vehicle door opening early warning system and control method thereof |
| CN105329167A (en) * | 2015-12-11 | 2016-02-17 | 安徽工程大学 | Vehicle door opening early warning system and safety protection method thereof |
| CN105329167B (en) * | 2015-12-11 | 2016-11-30 | 安徽工程大学 | A kind of opening door of vehicle early warning system and safety protecting method thereof |
| CN109267891A (en) * | 2018-10-30 | 2019-01-25 | 昆山赛诺泰克工业科技有限公司 | Electric tail gate control system and control method based on millimeter wave |
| CN111907455A (en) * | 2019-05-08 | 2020-11-10 | 上海海拉电子有限公司 | Vehicle door opening early warning method and system |
| CN112440899A (en) * | 2019-08-28 | 2021-03-05 | 北京新能源汽车股份有限公司 | Vehicle door control method and device and vehicle |
| CN112918377A (en) * | 2019-12-06 | 2021-06-08 | 北京新能源汽车股份有限公司 | Control method, controller, system and vehicle for parking and door opening early warning |
| CN112918377B (en) * | 2019-12-06 | 2022-11-01 | 北京新能源汽车股份有限公司 | Control method, controller, system and vehicle for parking and door opening early warning |
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Application publication date: 20150701 |