CN107444327A - One kind reversing early warning system and method - Google Patents
One kind reversing early warning system and method Download PDFInfo
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- CN107444327A CN107444327A CN201710619554.3A CN201710619554A CN107444327A CN 107444327 A CN107444327 A CN 107444327A CN 201710619554 A CN201710619554 A CN 201710619554A CN 107444327 A CN107444327 A CN 107444327A
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000004888 barrier function Effects 0.000 claims abstract description 125
- 238000012360 testing method Methods 0.000 claims abstract description 71
- 238000001514 detection method Methods 0.000 claims abstract description 12
- 238000010586 diagram Methods 0.000 description 5
- 230000009885 systemic effect Effects 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 3
- 206010039203 Road traffic accident Diseases 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000739 chaotic effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
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- Radar, Positioning & Navigation (AREA)
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- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses one kind reversing early warning system and method, it is related to radar for backing car technical field, the system includes：Processor, driving switch, entire car controller, test the speed distance measuring sensor and multimedia alarm unit, the distance measuring sensor that tests the speed is arranged on vehicle tail, processor electric connection and driving switch, entire car controller, test the speed distance measuring sensor and multimedia alarm unit, the distance measuring sensor that tests the speed is used for the state parameter for sensing the barrier in detection range, and state parameter includes the translational speed of the distance between barrier and barrier；The present invention can carry out early warning to the barrier for being possible to influence vehicle driving safety in advance, prompt car owner to pay attention to avoiding in advance, be effectively improved traffic safety.
Description
Technical field
The present invention relates to radar for backing car technical field, especially a kind of reversing early warning system and method.
Background technology
It is assembled with reverse image system on passenger car, commercial car and car greatly at present, user, can when moving backward or parking
To avoid accident by the real-time road after reverse image system observation car around.
Current reverse image system is to install camera in vehicle tail, when vehicle is in reversing, camera shooting
Surrounding image after car, and display screen display in the car, but the shooting distance of camera is too short, limited angle, the visual field be present
Dead angle, user are difficult that the real-time road around after car is comprehensively observed by reverse image.Further, since road conditions are complicated,
Electric car, bicycle and pedestrian travel chaotic, and speed is again fast, when user has found these cars in reverse image generally
Leaned on them it is close, be now easy to because brake collide not in time, cause traffic accident.
The content of the invention
The present inventor is regarding to the issue above and technical need, it is proposed that one kind reversing early warning system and method, uses this hair
It is bright the barrier that influence vehicle driving safety can be given warning in advance in vehicle backing, improve traffic safety.
Technical scheme is as follows：
One kind reversing early warning system, the system include：Processor, driving switch, entire car controller, test the speed distance measuring sensor
With multimedia alarm unit, the distance measuring sensor that tests the speed is arranged on vehicle tail, and processor is electrically connected with and driving switch, vehicle control
Device processed, test the speed distance measuring sensor and multimedia alarm unit, and the distance measuring sensor that tests the speed is used to sense the barrier in detection range
State parameter, state parameter includes the translational speed with the distance between barrier and barrier.
Its further technical scheme be test the speed distance measuring sensor include at least three, one of them test the speed ranging sensing
Device is arranged on the center position of vehicle tail bumper, and remaining distance measuring sensor that tests the speed is symmetricly set on vehicle with respect to center position
The leftward position and right positions of afterbody bumper.
Its further technical scheme is that the distance measuring sensor that tests the speed is LDM301 speed measured sensors.
One kind reversing method for early warning, this method are used in above-mentioned reversing early warning system, and this method includes：
The state parameter of barrier is obtained by the distance measuring sensor that tests the speed, state parameter includes test the speed distance measuring sensor and barrier
Hinder the translational speed of the distance between thing and barrier.
Whether it is dangerous obstacles according to the state parameter disturbance in judgement thing of barrier, dangerous obstacles are to influence vehicle row
The barrier of car safety；
When barrier is dangerous obstacles, early warning is sent by multimedia alarm unit.
Its further technical scheme is to detect whether barrier is dangerous obstacles according to the state parameter of barrier,
Including：
The moving direction of barrier is determined according to test the speed the distance between distance measuring sensor and barrier, moving direction is court
Moved to the mobile or remote vehicle of vehicle；
Whether the translational speed of detection barrier reaches threshold speed；
When the translational speed of barrier reaches threshold speed, according to the moving direction disturbance in judgement thing of barrier whether be
Dangerous obstacles；
When the translational speed of barrier is not up to threshold speed, according to test the speed between distance measuring sensor and barrier away from
From and the moving direction disturbance in judgement thing of barrier whether be dangerous obstacles.
Its further technical scheme is whether the moving direction disturbance in judgement thing according to barrier is dangerous obstacles,
Including：
When the moving direction of barrier is moves towards vehicle, it is dangerous obstacles to determine barrier；
When the moving direction of barrier is away from vehicle movement, determine that barrier is safety obstacle thing, safety obstacle thing
It is the barrier for not influenceing vehicle driving safety.
Its further technical scheme is, according to test the speed the distance between distance measuring sensor and barrier and barrier
Whether moving direction disturbance in judgement thing is dangerous obstacles, including：
Whether test the speed the distance between distance measuring sensor and barrier is less than distance threshold；
When test the speed the distance between distance measuring sensor and barrier are less than distance threshold, and the moving direction of barrier is court
When being moved to vehicle, it is dangerous obstacles to determine barrier；
Otherwise, it determines barrier is safety obstacle thing.
Its further technical scheme is to send early warning by multimedia alarm unit, including：
Warning mark is shown by multimedia alarm unit, and/or, phonetic warning is played by multimedia alarm unit and believed
Breath, warning mark and/or phonetic warning information are used to warn dangerous barrier in the detection range for the distance measuring sensor that tests the speed.
Its further technical scheme is that this method also includes：
The position of barrier is determined according to the set location for the distance measuring sensor that tests the speed；
The state parameter of barrier and/or the position of barrier are shown by multimedia alarm unit.
The method have the benefit that：
System and method disclosed by the invention, by sensing the distance of barrier and vehicle and the mobile speed of barrier
Degree, early warning can be carried out on the barrier for being possible to influence vehicle driving safety in advance, prompt car owner to pay attention to avoiding in advance, solve
The traffic information around host vehicle rear can not be awarded comprehensively in reverse image system, especially when car owner's notice is concentrated very much
The generation of traffic accident is caused dependent on being moved backward when seeing that reverse image, the car owner visual field are unintelligible and the visual field is blocked, is improved
Traffic safety.
Brief description of the drawings
Fig. 1 is the structural representation of reversing early warning system.
Fig. 2 is the scheme of installation of distance measuring sensor of testing the speed.
Fig. 3 is the method flow diagram of reversing method for early warning.
Fig. 4 is the display schematic diagram of multimedia alarm unit.
Embodiment
The embodiment of the present invention is described further below in conjunction with the accompanying drawings.
Fig. 1 is refer to, it illustrates the structural representation of reversing early warning system disclosed by the invention, the reversing early warning system
Including processor, driving switch, entire car controller, tested the speed distance measuring sensor and multimedia alarm unit, and processor is electrically connected with
With driving switch, entire car controller, test the speed distance measuring sensor and multimedia alarm unit, multimedia alarm unit includes display screen
And/or loudspeaker, the multimedia alarm unit can be the multimedia unit of vehicle self-carrying or more matchmakers for specially setting
Body unit, man-machine interaction unit, the users such as physical button or virtual key are generally also included on multimedia alarm unit and passes through people
Machine interactive unit carries out operational control.
Driving switch is used to sense the gear signal that vehicle is currently located gear, gear signal include forward signal,
Parking stall signal and reverse gear signal etc., driving switch are used for when sensing reverse gear signal, wake up processor.
When actually realizing, driving switch is also electrically connected with multimedia alarm unit, then driving switch is additionally operable to sensing reverse gear
Multimedia alarm unit is waken up during signal.
In the present invention, all kinds of parameters that entire car controller is used for during collection vehicle traveling, such as in the present invention,
Entire car controller is mainly used in the reversing speed of collection vehicle, and the present invention is not repeated this.
The distance measuring sensor that tests the speed is arranged on vehicle tail, is generally arranged on vehicle tail bumper, ranging of testing the speed sensing
Device is used for the state parameter for sensing the barrier in detection range, and state parameter includes the distance between barrier and obstacle
The translational speed of thing, the present invention in the distance measuring sensor that tests the speed be LDM301 speed measured sensors.Due to ranging of testing the speed
The detection range of sensor is limited, therefore at least three are generally included in the system and is tested the speed distance measuring sensor, and one of them tests the speed
Distance measuring sensor is fixedly installed on the center position of vehicle tail bumper, and remaining distance measuring sensor that tests the speed is with respect to center position
The symmetrical leftward position and right positions for being fixedly installed on vehicle tail bumper, the distance measuring sensor that each tests the speed are used to sense certainly
The state parameter of barrier in body detection range, include the schematic diagram of three distance measuring sensors that test the speed as shown in Figure 2, wherein
The distance measuring sensor 220 that tests the speed is arranged on the center position of vehicle tail bumper 210, and the distance measuring sensor 230 that tests the speed is arranged on guarantor
The leftward position of dangerous thick stick 210, and relative vehicle coordinate 72 degree of angles of X-axis, the distance measuring sensor 240 that tests the speed are arranged on bumper 210
Right positions, same relative vehicle coordinate 72 degree angles of X-axis, wherein, be arranged at left and right sides of the distance measuring sensor phase that tests the speed
To the angle of vehicle coordinate X-axis by systemic presupposition or User Defined.
Based on the reversing early warning system shown in Fig. 1, the invention also discloses one kind reversing method for early warning, this method is included such as
Under several steps, flow is as shown in Figure 3：
Step 1, driving switch obtains gear information, and driving switch is representing vehicle just when sensing reverse gear information
Moving backward, then driving switch wakes up processor and multimedia alarm unit, and simultaneous processor wakes up the distance measuring sensor that tests the speed, processing
Device and multimedia alarm unit, test the speed distance measuring sensor and entire car controller is communicated, processor is obtained by entire car controller
The parameter such as reversing speed in real time is taken, and reverse image etc. can be shown by multimedia alarm unit.In the present invention, handle
Device also obtains the state parameter of barrier by the distance measuring sensor that tests the speed, and state parameter includes test the speed distance measuring sensor and barrier
The distance between and barrier translational speed.
Step 2, whether processor is dangerous obstacles according to the state parameter disturbance in judgement thing of barrier, dangerous obstacles
It is the barrier for influenceing vehicle driving safety.
Specifically, the step includes the following steps：
Step 2-1, the moving direction of barrier is determined according to test the speed the distance between distance measuring sensor and barrier, it is mobile
Direction is mobile or moved away from vehicle towards vehicle, test the speed the distance between distance measuring sensor and barrier namely barrier and
The distance between vehicle.Specifically, the state parameter of processor interval acquiring barrier at predetermined time intervals, if detect away from
It is small from a distance from being detected than the last time, it is determined that barrier moves towards vehicle, if the distance detected detects than last
The distance arrived is big, it is determined that barrier moves away from vehicle；Wherein predetermined time interval is systemic presupposition value or User Defined
Value, can use predetermined time interval in the present invention is 500ms.
Whether step 2-2, the translational speed for detecting barrier reach threshold speed, and threshold speed is systemic presupposition value or use
Family self-defining value, threshold speed is 30km/h in the present invention.
Step 2-3, when the translational speed of barrier reaches threshold speed, if the moving direction of barrier is towards vehicle
Mobile, it is dangerous obstacles to determine barrier；If the moving direction of barrier is to be moved away from vehicle, determine barrier for safety
Barrier.
Step 2-4, when the translational speed of barrier is not up to threshold speed, test the speed distance measuring sensor and barrier
The distance between whether be less than distance threshold, distance threshold is systemic presupposition value or User Defined value, the distance in the present invention
Threshold value is 5m.If test the speed the distance between distance measuring sensor and barrier are less than distance threshold, and the moving direction of barrier is
Moved towards vehicle, it is determined that barrier is dangerous obstacles.Otherwise, it determines barrier is safety obstacle thing, specifically, when survey
The distance between fast distance measuring sensor and barrier are less than distance threshold, and the moving direction of barrier is to be moved away from vehicle
When, it is safety obstacle thing to determine barrier；Or when test the speed the distance between distance measuring sensor and barrier are more than or equal to distance
During threshold value, it is safety obstacle thing to determine barrier.
Step 3, when it is dangerous obstacles that processor, which determines barrier, early warning is sent by multimedia alarm unit, had
Body, processor shows warning mark by the display screen of multimedia alarm unit, and/or, pass through multimedia alarm unit
Loudspeaker plays phonetic warning information, and warning mark and/or phonetic warning information are used for the detection for warning the distance measuring sensor that tests the speed
In the range of dangerous barrier.Further, since multiple distance measuring sensors that test the speed are generally included in the system of the present invention, and processor
The barrier of vehicle different azimuth, and the distance measuring sensor that tests the speed can be sensed by being arranged on the distance measuring sensor that tests the speed of diverse location
Set location be known and fixed, then processor, can also be according to ranging of testing the speed when it is determined that barrier is dangerous obstacles
The set location of sensor determines the position of barrier, then processor is shown by more body alarm units of matchmaker 6 warning mark and/
Or the phonetic warning information played is additionally operable to warn the position of dangerous obstacles.In addition, warning mark and/or the police of the voice of broadcasting
Show that information is additionally operable to warn the state parameter of dangerous obstacles.
Such as when warning mark is used for the state parameter for the position and dangerous obstacles for warning dangerous obstacles, such as
Shown in Fig. 4, processor can the display screen display reverse image 420 of multimedia alarm unit 410, vehicle schematic diagram 440 with
And mark corresponding with the set location for the distance measuring sensor that tests the speed, as Fig. 4 shows 5 marks corresponding with the distance measuring sensor that tests the speed
Will, when processor senses dangerous obstacles by being arranged on the distance measuring sensor that tests the speed of the rightmost side, the ranging sensing that tests the speed
Mark 450 corresponding to device is shown as warning mark, such as shown in red；When processor is not by being arranged on second, right side
When the distance measuring sensor that tests the speed senses dangerous obstacles, the mark 460 corresponding to distance measuring sensor that tests the speed is shown as normal condition,
For example it is shown as blueness.In addition, processor also shows the state parameter 430 of dangerous obstacles, including dangerous barrier on a display screen
Hinder the displacement of the distance between thing and vehicle and dangerous obstacles.The method of specific display warning mark can be by being
System is default, the exemplary only schematic diagrames of Fig. 4.For another example, when phonetic warning information be used to warning the positions of dangerous obstacles with
And dangerous obstacles state parameter when, danger is sensed by being arranged on the distance measuring sensor that tests the speed of leftward position with processor
Exemplified by barrier, phonetic warning information can be " left has object close, and translational speed is very fast " or " left is apart from motive objects
Body is nearer ", so as in advance to driver with early warning.
In addition, reversing early warning system disclosed by the invention, processor is detecting reverse gear information by driving switch,
When determining that vehicle is moved backward, the reversing data of such as reverse image and reversing speed etc can be also recorded, if now gear is opened
Pass senses that vehicle switches to other gears, then processor stop recording, and preserves the reversing data recorded before.Then correspond to
, processor can also play the reversing data stored before by multimedia alarm unit, and user can be warned by multimedia
Show that the man-machine interaction unit on unit sends playing request, the reversing data that playing request is asked to play by processor to processor
Transmit to multimedia alarm unit and play out, record is segmented, when user can targetedly select certain reversing
The reversing data of time are watched.
Above-described is only the preferred embodiment of the present invention, and the invention is not restricted to above example.It is appreciated that this
Other improvement and become that art personnel directly export or associated without departing from the spirit and concept in the present invention
Change, be considered as being included within protection scope of the present invention.
Claims (9)
1. one kind reversing early warning system, it is characterised in that the system includes：Processor, driving switch, entire car controller, survey
Fast distance measuring sensor and multimedia alarm unit, the distance measuring sensor that tests the speed are arranged on vehicle tail, and the processor is electrical
Connection and the driving switch, the entire car controller, test the speed distance measuring sensor and the multimedia alarm unit, it is described
The distance measuring sensor that tests the speed is used for the state parameter for sensing the barrier in detection range, and the state parameter includes and the obstacle
The translational speed of the distance between thing and the barrier.
2. system according to claim 1, it is characterised in that the distance measuring sensor that tests the speed includes at least three, wherein
One distance measuring sensor that tests the speed is arranged on the center position of vehicle tail bumper, remaining test the speed distance measuring sensor relatively it is described just
Middle position is symmetricly set on the leftward position and right positions of the vehicle tail bumper.
3. system according to claim 1 or 2, it is characterised in that the distance measuring sensor that tests the speed is LDM301 Laser Measurings
Away from tachogenerator.
4. one kind reversing method for early warning, methods described are used in the reversing early warning system as described in claims 1 to 3 is any, its
It is characterised by, methods described includes：
The state parameter of barrier is obtained by the distance measuring sensor that tests the speed, the state parameter includes the ranging biography that tests the speed
The translational speed of the distance between sensor and the barrier and the barrier.
Judge whether the barrier is dangerous obstacles according to the state parameter of the barrier, the dangerous obstacles are shadows
Ring the barrier of vehicle driving safety；
When the barrier is dangerous obstacles, early warning is sent by the multimedia alarm unit.
5. according to the method for claim 4, it is characterised in that described according to the detection of the state parameter of the barrier
Whether barrier is dangerous obstacles, including：
The moving direction of the barrier is determined according to test the speed the distance between the distance measuring sensor and the barrier, it is described
Moving direction is to be moved towards the mobile or remote vehicle of vehicle；
Whether the translational speed for detecting the barrier reaches threshold speed；
When the translational speed of the barrier reaches the threshold speed, according to judging the moving direction of the barrier
Whether barrier is dangerous obstacles；
When the translational speed of the barrier is not up to the threshold speed, according to distance measuring sensor and the barrier of testing the speed
The moving direction of the distance between thing and the barrier is hindered to judge whether the barrier is dangerous obstacles.
6. according to the method for claim 5, it is characterised in that described according to judging the moving direction of the barrier
Whether barrier is dangerous obstacles, including：
When the moving direction of the barrier is moves towards vehicle, it is dangerous obstacles to determine the barrier；
When the moving direction of the barrier is away from vehicle movement, determine that the barrier is safety obstacle thing, the peace
Full barrier is the barrier for not influenceing vehicle driving safety.
7. according to the method for claim 5, it is characterised in that according to it is described test the speed distance measuring sensor and the barrier it
Between distance and the moving direction of the barrier judge whether the barrier is dangerous obstacles, including：
Whether tested the speed described in detection the distance between distance measuring sensor and the barrier is less than distance threshold；
When test the speed the distance between the distance measuring sensor and the barrier are less than the distance threshold, and the barrier
When moving direction is moves towards vehicle, it is dangerous obstacles to determine the barrier；
Otherwise, it determines the barrier is safety obstacle thing.
8. according to any described method of claim 4 to 7, it is characterised in that described to be sent out by the multimedia alarm unit
Go out early warning, including：
Warning mark is shown by the multimedia alarm unit, and/or, voice is played by the multimedia alarm unit and warned
Show information, the warning mark and/or the phonetic warning information are used for the detection range for warning the distance measuring sensor that tests the speed
Interior dangerous barrier.
9. according to the method for claim 8, it is characterised in that methods described also includes：
The position of the barrier is determined according to the set location of the distance measuring sensor that tests the speed；
The state parameter of the barrier and/or the position of the barrier are shown by the multimedia alarm unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710619554.3A CN107444327A (en) | 2017-07-26 | 2017-07-26 | One kind reversing early warning system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710619554.3A CN107444327A (en) | 2017-07-26 | 2017-07-26 | One kind reversing early warning system and method |
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| Publication Number | Publication Date |
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| CN107444327A true CN107444327A (en) | 2017-12-08 |
Family
ID=60489096
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| CN201710619554.3A Pending CN107444327A (en) | 2017-07-26 | 2017-07-26 | One kind reversing early warning system and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112863248A (en) * | 2021-01-07 | 2021-05-28 | 东风汽车有限公司 | Control method of rear transverse incoming vehicle early warning system, storage medium and electronic equipment |
| EP3837670A4 (en) * | 2018-09-14 | 2022-03-16 | Lyft, Inc. | Systems and methods for displaying autonomous vehicle environmental awareness |
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Application publication date: 20171208 |