CN109870675A - A kind of automobile-used millimetre-wave radar detectivity degradation detection system and method - Google Patents
A kind of automobile-used millimetre-wave radar detectivity degradation detection system and method Download PDFInfo
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Abstract
The present invention relates to a kind of automobile-used millimetre-wave radar detectivity degradation detection system and method, comprising: obtains the target information packet for having time identifier；The location information of target information packet is extracted, and according to the positional information, judges target information packet whether in the radar detection limit to be measured section；If so, handling the target information packet；The beneficial effect is that: by obtaining the information of vehicles in specified range, it is compared with the detection information that trailer-mounted radar detects, for judging whether millimetre-wave radar maximum range ability degrades or be limited, so as to the irregular working situation for vehicle-mounted millimetre-wave radar system of alarming in time, and driver is reminded to be sent to maintenace point maintenance in time, avoid bigger safety accident from occurring.
Description
Technical field
The present invention relates to trailer-mounted radar technical field, in particular to a kind of automobile-used millimetre-wave radar detectivity degradation detection
System and method.
Background technique
With the continuous development of automatic driving technology, middle and high end configuration vehicle arranges ADAS successively
(Advanced Driving Assistant System) system, in ADAS system, common sensor device includes camera shooting
Head, millimetre-wave radar, laser radar and V2V technology；The respective advantage of the above sensor and disadvantage, and millimetre-wave radar due to
The advantage insensitive to weather and weather conditions, more and more common is applied to automatic driving auxiliary system and automatic Pilot
In system.
Application of MMW radar can be divided into angle radar, preceding radar and rear radar on automobile, and angle radar is typically mounted at
Vehicle both sides, behind bumper；Radar afterwards is typically mounted at behind rear bumper；Preceding radar, before being mounted on automobile mostly just
It is square, near grid, often it is directly exposed to outside vehicle；For the radar being exposed to outside vehicle, in certain extreme cases,
Such as heavy rain, heavy snow or the soil to splash etc., it may cause radar box by foreign matter to covering, when radar is blocked by other foreign matters
When obvious, the variation of radar range will cause.When practical application, radar should detect the mesh in target zone
Mark can not export the target that should be exported at a distance due to being accidentally covered or other failures cause detection performance to decline
Object information track vehicle body other control system, control system should need to take brake, lane change or pre- for the appearance of distant object
The functions such as alert, and reality is not taken measures on customs clearance, and serious safety accident is easy to cause.
Summary of the invention
In order to solve the above technical problems, The present invention provides a kind of automobile-used millimetre-wave radar detectivity degradation detection sides
Method, it is intended to detect and whether early warning trailer-mounted radar detectivity degradation situation occurs.
The present invention provides a kind of automobile-used millimetre-wave radar detectivity degradation detection methods, comprising:
Obtain the target information packet for having time identifier；
The location information of target information packet is extracted, and according to the positional information, judges target information packet whether in radar to be measured
In detection limit section；
If so, handling the target information packet；
If it is not, then the target information is abandoned.
It is optionally, described that target information packet is handled, comprising:
According to the time identifier of target information packet, the detection information packet that radar detects in the same time is obtained；
Judge whether detection information packet includes target information packet；
If so, the system of expression is normal, continue to obtain simultaneously processing target packet.
If not, then it represents that system exception, accumulation system frequency of abnormity.
Optionally, it when the accumulation system frequency of abnormity is more than one time, then alarms.
Optionally, described to carry out alarm to report to background service in display screen alert, and by warning message
Device.
It is optionally, described to obtain the target information packet for having time identifier, comprising:
Connection is established with the target vehicle in target zone；
Obtain target vehicle current position, speed and directional information；
According to the position of target vehicle, speed and directional information, it is converted into target vehicle vehicle absolute coordinate information relatively to be measured,
Generate target information packet.
Optionally, the target vehicle in target zone establishes connection, comprising:
Request instruction is sent to target vehicle；
The target vehicle receives the request instruction, is simultaneously emitted by feedback response instruction;
Response instruction is received, and establishes connection with the target vehicle.
Optionally, described to establish connection with target vehicle and communicated by DSRC standard or C-V2X standard.
In addition, the present invention also provides a kind of automobile-used millimetre-wave radar detectivity degradation detection systems, comprising:
V2X communication module carries out information exchange by broadcast capability and other vehicles, for obtaining position, the speed of nearby vehicle
Degree and directional information；
CAN bus, by trailer-mounted radar, other modules are connect with vehicle body, for receiving the target information packet of nearby vehicle, and it is anti-
Trailer-mounted radar detection information is presented to master control system；
Main control module: for calling each functional module information of vehicle body, and information is transmitted to each functional module of vehicle body and is handled；
Alarm module: including display screen, it is used for display alarm information；
Wherein, the V2X communication module obtains the target information packet for having time identifier, and is sent to institute by the CAN bus
State main control module；The main control module extracts the location information of target information packet, and according to the positional information, judges that target is believed
Whether breath packet is in radar coverage；If so, handling the target information packet.
Optionally, the trailer-mounted radar obtains radar in the same time and detects according to the time identifier of target information packet
Detection information packet, and will test packets to the master control system；Whether the master control system judges detection information packet
Include target information packet；If so, the system of expression is normal, continue to obtain simultaneously processing target information.
Optionally, target information packet is handled described, one or many detection information Bao Wei occur includes
Target information packet, then alarm.
A kind of automobile-used millimetre-wave radar detectivity degradation detection method of the invention, the beneficial effect is that: by obtaining
The information of vehicles in specified range is taken, is compared with the detection information that trailer-mounted radar detects, for judging millimetre-wave radar
Whether maximum range ability degrades or is limited, so as to the irregular working feelings for vehicle-mounted millimetre-wave radar system of alarming in time
Condition, and driver is reminded to be sent to maintenace point maintenance in time, avoid bigger safety accident from occurring.
Detailed description of the invention
Fig. 1 is the flow chart of the detection method of the embodiment of the present invention 1；
Fig. 2 is the flow chart of the embodiment of the present invention 1 handled target information packet；
Fig. 3 is the acquisition target information packet flow chart of the embodiment of the present invention 1；
Fig. 4 is the detecting system schematic diagram of the embodiment of the present invention 2.
Specific embodiment
The preferred embodiments of the present invention will be described in detail with reference to the accompanying drawing, so that advantages and features of the invention are more
It is easily readily appreciated by one skilled in the art, to make apparent define to protection scope of the present invention.
The present invention is directed to detect and whether early warning trailer-mounted radar detectivity degradation situation occurs, trailer-mounted radar drop is influenced
Grade situation includes heavy rain, dense fog, night or is covered or radar itself failure etc. by foreign matter.
Embodiment 1:
Referring to Fig. 1, the present invention provides a kind of automobile-used millimetre-wave radar detectivity degradation detection methods, comprising:
Step 100, the target information packet for having time identifier is obtained；
In the present embodiment, target information packet is obtained by V2X communication module, position that wherein target information packet includes, speed
And directional information, V2X communication module are one kind of V2V technology, and position, the speed of nearby vehicle are mainly obtained by broadcast technology
Degree and directional information.
Step 200, extract the location information of target information packet, and according to location information, judge target information packet whether
In the radar detection limit to be measured section；
In the present embodiment, for forward detection radar, it is assumed that the forward detection radar that this vehicle loads is before lane where this vehicle
Square BURN-THROUGH RANGE, it is assumed that be p meters, in 0 degree of this vehicle relative angle or 180 degree position, within p-20 meters of BURN-THROUGH RANGE
Objective extraction come out, individually export, default take target information packet of the distance between P-20 ~ P to be exported；Wherein, specifically
Range actually adjusts again depending on position setting accuracy in V2V device, and limit section can be by user according to detection demand sets itself.
Step 300, if so, handling target information packet.
Referring to fig. 2, in the present embodiment, step 300, target information packet is handled, comprising:
Step 310, according to the time identifier of target information packet, the detection information packet that radar detects in the same time is obtained；
In the present embodiment, detection information packet is obtained by trailer-mounted radar to be measured, and detection information packet includes all periphery vehicles
Position, speed and directional information.
Step 320, judge whether detection information packet includes target information packet；
In the present embodiment, by judging the nearby vehicle location information of target information packet, if detected in trailer-mounted radar
Detection information packet for position on occur, carry out detection information packet whether include target information packet judgement.
Step 330, if so, the system of expression is normal, continue to obtain simultaneously processing target packet；
In the present embodiment, if the vehicle that target information packet occurs occurs in Radar for vehicle detection information packet detected,
It indicates that trailer-mounted radar is normal, continues to obtain simultaneously processing target packet.
Step 340, if not, then it represents that system exception, accumulation system frequency of abnormity.
In the present embodiment, if in first time handles target information packet, detection information Bao Wei believes comprising target
Breath packet sets abnormal mark in trailer-mounted radar, and enabling the value identified extremely is 1, if at repeatedly to target information packet
In reason, detection information Bao Wei includes target information packet, is added up to the value identified extremely.
Optionally, it when the accumulation system frequency of abnormity is more than one time, then alarms.
In the present embodiment, if the vehicle of target information packet appearance is not in the position of Radar for vehicle detection information packet detected
Appearance is set, then illustrates that detectivity degradation occurs in trailer-mounted radar, can not work normally situation；In the present embodiment, if abnormal mark
When the value of knowledge is 2, then alarm；To avoid there is corrupt data situation, this automobile-used millimetre-wave radar detectivity drop is improved
The reliability of grade detection method detection.
Optionally, alarm is carried out to report to background server in display screen alert, and by warning message；?
In the present embodiment, if to target information packet handle in occur repeatedly do not wrap appearance in trailer-mounted radar detection information, pass through
Vehicle-carrying display screen issues the user with warning message, and is reported to backstage to take by vehicle body CAN bus trailer-mounted radar abnormal conditions
Business device；If vehicle to be detected is not interconnected with background network, without warning message is reported to background server.
It is step 100, described to obtain the target information packet for having time identifier referring to Fig. 3, comprising:
Step 110, connection is established with the target vehicle in target zone；
In the present embodiment, target zone, that is, vehicle travel range or vehicle mounted communication module, such as V2X communication module working range
Interior detection target vehicle；V2X communication module uses DSRC or C-V2X, that is, dedicated short-range communication technology, it may be implemented specific
To " Che-vehicle " two-way communication of the identification and two-way communication of the mobile target under high-speed motion, such as vehicle in region.
Step 120, target vehicle current position, speed and directional information are obtained；
In the present embodiment, vehicle-to-target vehicle to be measured establishes communication connection, that is, the V2X communication module and mesh of vehicle to be measured
The V2X communication module of mark vehicle establishes connection, and vehicle to be measured obtains information of vehicles to target vehicle by V2X communication module and asks
It asks, target vehicle sends the present vehicle information of this vehicle, including position to vehicle to be measured after the request for receiving vehicle to be measured
Information, velocity information and directional information.
Step 130, according to the position of target vehicle, speed and directional information, it is converted into target vehicle vehicle relatively to be measured
Absolute coordinate information generates target information packet.
In the present embodiment, vehicle to be measured obtains position, speed and the direction letter of target vehicle by V2X communication module
Breath, and according to the position of target vehicle, speed and directional information, and the location information of vehicle to be measured is combined, carry out coordinate conversion；
It is generated to the target information packet that trailer-mounted radar or main control module can identify, and stamps time identifier in target information packet.
Optionally, the target vehicle in target zone establishes connection, comprising:
Request instruction is sent to target vehicle；
The target vehicle receives the request instruction, is simultaneously emitted by feedback response instruction;
Response instruction is received, and establishes connection with the target vehicle.
In the present embodiment, the V2X communication module of vehicle to be measured establishes connection to the transmission of the V2X communication module of target vehicle
Request instruction after the V2X communication module of target vehicle receives request instruction, feeds back to the V2X communication module of vehicle to be measured and rings
It should instruct, the V2X communication module of vehicle to be measured receives response instruction, that is, completes to establish connection.
Step 400, if the target information is not in radar coverage, the target information is abandoned.
In the present embodiment, connection is established with target vehicle to be communicated by DSRC standard or C-V2X standard.
In the present embodiment, DSRC dedicated short-range communication technology is a kind of efficient wireless communication technique, provides high speed number
According to transmission, and guarantee communication link low delay and low interference.It is reported that being mounted with that the vehicle of on board unit OBU and roadside are single
First RSU can realize that inter-vehicular communication V2V and vehicle communicate V2I with roadside infrastructure by DSRC dedicated short-range communication technology.
DSRC may be implemented in zonule, the identification and two-way such as in 300-500 meters, to the mobile target under high-speed motion
Letter, DSRC can real-time Transmission image, voice-and-data information, realize the two-way communication of V2I, V2V and V2P, DSRC widely answers
Used in fields such as ETC non-parking charge, access and exit control, fleet management, information services, and in vehicle identification, driver's identification, road
The information interaction of net and vehicle, vehicular ad hoc network etc. have advantage.
In the present embodiment, C-V2X is that the communication of vehicle vehicle is realized based on 4G/5G technology, is the basis V2X with LTE cellular network
Car networking proprietary protocol, including two operating modes of LTE-V-Cell and LTE-V-Direct.It is introduced that LTE-V-Cell
It can support big bandwidth, big covering communication by existing cellular network, meet Telematics application demand；LTE-V-
Direct can realize vehicle and surrounding enviroment node low time delay, highly reliable direct communication independently of cellular network, meet row
Vehicle demand for security.
By obtaining the information of vehicles in specified range, compares, be used for the detection information that trailer-mounted radar detects
Judge whether millimetre-wave radar maximum range ability degrades or be limited, so as to vehicle-mounted millimetre-wave radar system of alarming in time
Irregular working situation, and driver is reminded to be sent to maintenace point maintenance in time, avoid bigger safety accident from occurring.
Embodiment 2:
Based on embodiment 1, the present invention also provides a kind of automobile-used millimetre-wave radar detectivity degradation detection systems, referring to fig. 4,
Include:
V2X communication module carries out information exchange by broadcast capability and other vehicles, for obtaining position, the speed of nearby vehicle
Degree and directional information；V2X communication module realizes the information exchange between vehicle-to-target vehicle to be measured by broadcast capability, such as
Position, the generation of speed and directional information to avoid traffic accident are provided；
CAN bus, by trailer-mounted radar, other modules are connect with vehicle body, for receiving the target information packet of nearby vehicle, and it is anti-
Trailer-mounted radar detection information is presented to master control system；CAN bus is that trailer-mounted radar module to be measured and other modules of vehicle or system are logical
Communication interface signal, trailer-mounted radar to be measured receive vehicle body status information, and feedback trailer-mounted radar detection information by CAN bus
To master control system；
Main control module: for calling each functional module of vehicle body, and information is transmitted to each functional module of vehicle body and is handled；
Alarm module: including display screen, it is used for display alarm information, and for showing some warning messages, such as radar function
Whens degradation etc., warning message is exported on a display screen；
Wherein, V2X communication module obtains the target information packet for having time identifier, and is sent to main control module by CAN bus；It is main
The location information that module extracts target information packet is controlled, and according to location information, judges target information packet whether in radar detection model
In enclosing；If so, handling target information packet.
In the present embodiment, trailer-mounted radar obtains radar in the same time and visits according to the time identifier of target information packet
The detection information packet of survey, and will test packets to master control system；Master control system judges whether detection information packet includes mesh
Mark packet；If so, the system of expression is normal, continue to obtain simultaneously processing target information.
In the present embodiment, it is handled to target information packet, one or many detection information Bao Wei occur includes mesh
Packet is marked, then is alarmed.
In addition, in the present embodiment, a kind of automobile-used millimetre-wave radar detectivity degradation detection system of the present invention includes V2X
Communication module, CAN bus, alarm module, for testing vehicle trailer-mounted radar, information exchange is by V2X communication module, vehicle vehicle
It carries radar to carry out by CAN bus, and lookup comparison, nothing is carried out to target information packet and detection information packet by vehicle-mounted trailer-mounted radar
Need external piloting control module；Hardware resource needed for having saved detection, improves data processing rate.
In the present embodiment, V2V realizes the information exchange between vehicle and vehicle based on broadcast capability, such as provides position, speed
Degree and generation of the directional information to avoid traffic accident.In vehicle to be measured, the workflow of radar detection function limitation detection is such as
Under:
Step 1, vehicle to be measured utilize V2X communication module, constantly receive this vehicle nearby vehicle information, including position, speed and
Directional information etc.；
Step 2, vehicle main control module to be measured is according to the target vehicle information of the vehicle-surroundings to be measured received, by target vehicle
Location information does coordinate conversion；
Step 3 judges target vehicle, believes in the trailer-mounted radar investigative range of vehicle to be measured close to the vehicle near extreme position
Breath, for example, for forward detection radar, it is assumed that the forward detection radar that this vehicle loads farthest is detecting in front of lane where this vehicle
Distance, it is assumed that it is p meters, the Objective extraction in 0 degree of this vehicle relative angle or 180 degree position, within p-20 meters of BURN-THROUGH RANGE
Out, wherein specific range actually adjusts again depending on position setting accuracy in V2V device, individually exports, and default, which takes, to be greater than or wait
In two or more, such as target data output of the distance between P-20 ~ P；
Step 4, vehicle body CAN bus send target information Bao Jun band time identifier, and trailer-mounted radar to be measured receives V2 from CAN bus
The specific objective packet containing time identifier that communication module transfers, wherein target information packet can be one or more；
Step 5, trailer-mounted radar comparison to be measured is certainly under same time, the detection information packet of detection, if comprising in step 4
The target information packet of V2V feedback；
Step 6 sets abnormal mark, and enable abnormal mark if detection information packet does not include target information packet in trailer-mounted radar
Value be 1, if in repeatedly handling target information packet, detection information Bao Wei include target information packet, to abnormal mark
Value add up；Within a certain period of time, continue to exceed can not detect that V2V reported for 2 times at p-20 meters of investigative range
Target, i.e., when the value identified extremely is 2, trailer-mounted radar to be measured is reminded by display screen by CAN bus outputting alarm information
Target user arrives the nearest shop 4S maintenance in time；Such as this vehicle band network application function, system passes through car networking function again and reports backstage
Service centre.
By obtaining the information of vehicles in specified range, compares, be used for the detection information that trailer-mounted radar detects
Judge whether millimetre-wave radar maximum range ability degrades or be limited, so as to vehicle-mounted millimetre-wave radar system of alarming in time
Irregular working situation, and driver is reminded to be sent to maintenace point maintenance in time, avoid bigger safety accident from occurring.
Embodiments of the present invention are explained in detail above in conjunction with attached drawing, but the present invention is not limited to above-mentioned implementations
Mode within the knowledge of a person skilled in the art can also be without departing from the purpose of the present invention
Various changes can be made.
Claims (9)
1. a kind of automobile-used millimetre-wave radar detectivity degradation detection method characterized by comprising
Obtain the target information packet for having time identifier；
The location information of target information packet is extracted, and according to the positional information, judges target information packet whether in radar to be measured
In detection limit section；
If so, handling the target information packet；
If it is not, then the target information packet is abandoned.
2. a kind of automobile-used millimetre-wave radar detectivity degradation detection method according to claim 1, which is characterized in that institute
It states and target information packet is handled, comprising:
According to the time identifier of target information packet, the detection information packet that radar detects in the same time is obtained；
Judge whether detection information packet includes target information packet；
If so, the system of expression is normal, continue to obtain simultaneously processing target packet；
If not, then it represents that system exception, accumulation system frequency of abnormity.
3. a kind of automobile-used millimetre-wave radar detectivity degradation detection method according to claim 2, which is characterized in that institute
When stating accumulation system frequency of abnormity and being more than one time, then alarm.
4. a kind of automobile-used millimetre-wave radar detectivity degradation detection method according to claim 3, which is characterized in that institute
It states and carries out alarm to report to background server by display screen alert, and by warning message.
5. a kind of automobile-used millimetre-wave radar detectivity degradation detection method according to claim 1, which is characterized in that institute
State the target information packet for obtaining and having time identifier, comprising:
Connection is established with the target vehicle in target zone；
Obtain target vehicle current position, speed and directional information；
According to the position of target vehicle, speed and directional information, coordinate conversion is carried out, target vehicle vehicle relatively to be measured is converted into
Absolute coordinate information generates target information packet.
6. a kind of automobile-used millimetre-wave radar detectivity degradation detection method according to claim 5, which is characterized in that institute
It states and establishes connection with the target vehicle in target zone, comprising:
Request instruction is sent to target vehicle；
The target vehicle receives the request instruction, is simultaneously emitted by feedback response instruction;
Response instruction is received, and establishes connection with the target vehicle.
7. a kind of automobile-used millimetre-wave radar detectivity degradation detection method according to claim 6, which is characterized in that institute
It states and establishes connection with target vehicle and communicated by DSRC standard or C-V2X standard.
8. a kind of automobile-used millimetre-wave radar detectivity degradation detection system characterized by comprising
V2X communication module carries out information exchange by broadcast capability and other vehicles, for obtaining position, the speed of nearby vehicle
Degree and directional information；
CAN bus, by trailer-mounted radar, other modules are connect with vehicle body, for receiving the target information packet of nearby vehicle, and it is anti-
Trailer-mounted radar detection information is presented to master control system；
Main control module: for calling each functional module of vehicle body, and information is transmitted to each functional module of vehicle body and is handled；
Alarm module: including display screen, it is used for display alarm information；
Wherein, the V2X communication module obtains the target information packet for having time identifier, and is sent to institute by the CAN bus
State main control module；The main control module extracts the location information of target information packet, and according to the positional information, judges that target is believed
Whether breath packet is in radar coverage；If so, handling the target information packet.
9. a kind of automobile-used millimetre-wave radar detectivity degradation detection system according to claim 8, which is characterized in that institute
Trailer-mounted radar is stated according to the time identifier of target information packet, obtains the detection information packet that radar detects in the same time, and will
Detection information packet is sent to the master control system；The master control system judges whether detection information packet includes target information packet；If
It is, then it represents that system is normal, continues to obtain simultaneously processing target information；Include if there are one or many detection information Bao Wei
Target information packet, then alarm.
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| CN109870675B (en) | 2022-12-27 |
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