CN110275170B - Radar detection control method for vehicle and vehicle - Google Patents
Radar detection control method for vehicle and vehicle Download PDFInfo
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- CN110275170B CN110275170B CN201810214864.1A CN201810214864A CN110275170B CN 110275170 B CN110275170 B CN 110275170B CN 201810214864 A CN201810214864 A CN 201810214864A CN 110275170 B CN110275170 B CN 110275170B
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/537—Counter-measures or counter-counter-measures, e.g. jamming, anti-jamming
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention relates to the technical field of vehicle radar control, in particular to a radar detection control method of a vehicle and the vehicle. The vehicle comprises a controller and a group of radars which are arranged in at least one direction of the vehicle, wherein each group of radars comprises radars in at least two frequency bands; the controller controls the first set frequency band radar to work and obtains a receiving signal of the first set frequency band radar, and the controller judges whether the time sequence of the receiving signal is wrong or invalid; if the time sequence of the received signals is wrong or invalid, the controller controls the first set frequency band radar to exit, and starts the second set frequency band radar, so that the interference of external signals to the radar is avoided, the running safety and the applicability of the vehicle are improved, and the problem that the safety of the vehicle is reduced due to the fact that an existing vehicle ultrasonic radar detection system is poor in anti-interference capacity is solved.
Description
Technical Field
The invention relates to the technical field of vehicle radar control, in particular to a radar detection control method of a vehicle and the vehicle.
Background
With the continuous acceleration of the urbanization process, the quantity of retained urban automobiles is larger and larger, traffic jam occurs sometimes, the distance between a driver and the automobile is very small for preventing the traffic jam, and rear-end accidents are frequent due to subjective and objective reasons, so that an efficient and reliable target monitoring means and equipment are urgently needed. Under urban working conditions, the vehicle is low in running speed, the distance of real-time detection does not need to be too far, and the ultrasonic radar detection system has the advantages of low cost, high monitoring precision, low requirement on obstacles and the like, and is suitable detection equipment.
The basic principle of the ultrasonic reversing radar is that a plurality of ultrasonic probes are adopted, but only one probe works at the same time, the ultrasonic reversing radar works in a pulse mode, and the working process is that one probe sends ultrasonic signals which generally last for several to more than ten waveform times; for example, about 0.1ms to 1ms at 40KHZ, and then turns off the transmitting circuit to wait for the ultrasonic echo signal. And calculating the distance between the barrier and the automobile by calculating the time difference between the transmitting signal and the echo signal. However, the ultrasonic probe usually has certain problems, such as that the ultrasonic probe can only work in a round-robin way and cannot work at the same time, the detection time is too long, each channel is scanned circularly, the scanning time is long, the working speed is low, and the safety and the applicability of the vehicle are greatly reduced; and common ultrasonic radar detection system works under a frequency band, and the anti-jamming capability is poor.
Disclosure of Invention
The invention aims to provide a radar detection control method of a vehicle and the vehicle, which are used for solving the problem that the safety of the vehicle is reduced due to the poor anti-interference capability of the conventional vehicle ultrasonic radar detection system.
In order to achieve the purpose and solve the problem that the safety of the vehicle is reduced due to poor anti-interference capability of the conventional vehicle ultrasonic radar detection system, the invention provides a radar detection control method of the vehicle, which comprises the following steps:
1) arranging a group of radars in at least one direction of the front, the back, the left and the right of the vehicle, wherein each group of radars comprises radars in at least two frequency bands and controls the radars in the first set frequency band to work;
2) acquiring a receiving signal of a first set frequency band radar, and judging whether the time sequence of the receiving signal is wrong or invalid;
3) and if the time sequence of the received signal is wrong or invalid, controlling the first set frequency band radar to exit, and starting the second set frequency band radar.
As an improvement of the radar detection control method for the vehicle provided by the invention, in step 3), if the time sequence of the received signal is wrong or invalid, the first set frequency band radar is controlled to stop sending the signal, and whether the first set frequency band radar receives an interference signal is judged; if not, the first set frequency band radar is closed, the alarm is controlled, and the second set frequency band radar is opened; if yes, the first set frequency band radar is controlled to exit, and the second set frequency band radar is started. When the radar breaks down, the alarm prompts the driver to pay attention to the current vehicle condition, and the driving safety is improved.
As a further improvement of the radar detection control method for a vehicle provided by the present invention, when a time sequence of a received signal of the second set frequency band radar is incorrect or invalid, the second set frequency band radar is controlled to exit, and the first set frequency band radar is turned on. The mutual switching of two frequency band radars is realized, the influence of interference on the safety of the vehicle is avoided, and the applicability of the vehicle is improved.
As a further improvement of the radar detection control method for the vehicle provided by the invention, in step 1), if a group of radars is arranged in the forward direction of the vehicle, the current vehicle speed and the current gear of the vehicle are also obtained, and when the current vehicle speed is less than a first set speed value and the current gear is a forward gear, the radar in the first set frequency range in the forward direction of the vehicle is controlled to work. When the vehicle moves forward, the forward radar is turned on, so that the resource occupation is reduced, the operation speed is increased, and the safety of the vehicle is improved.
As a further improvement of the radar detection control method for the vehicle provided by the present invention, in step 1), if a group of radars is arranged in the backward direction of the vehicle, the current vehicle speed and the current gear of the vehicle are also obtained, and when the current vehicle speed is less than the second set speed value and the current gear is the reverse gear, the radar of the first set frequency band in the backward direction of the vehicle is controlled to operate. When the vehicle moves backwards, the backward radar is turned on, so that the resource occupation is reduced, the operation speed is increased, and the safety of the vehicle is improved.
As another improvement of the radar detection control method for the vehicle provided by the invention, a group of radars is arranged on the left side and/or the right side of the vehicle in the step 1).
The invention also provides a vehicle, which comprises a controller and a group of radars arranged in at least one direction of the vehicle, wherein each group of radars comprises radars in at least two frequency bands; the controller controls the first set frequency band radar to work and obtains a receiving signal of the first set frequency band radar, and the controller judges whether the time sequence of the receiving signal is wrong or invalid; and if the time sequence of the received signal is wrong or invalid, the controller controls the first set frequency band radar to exit and starts a second set frequency band radar.
As an improvement of the vehicle provided by the present invention, if the time sequence of the received signal is wrong or invalid, the controller controls the first set frequency band radar to stop sending the signal, and determines whether the first set frequency band radar receives an interference signal; if not, the controller closes the first set frequency band radar, controls to give an alarm and opens the second set frequency band radar; if yes, the controller controls the first set frequency band radar to exit, and the second set frequency band radar is started.
As a further improvement of the vehicle provided by the present invention, when the time sequence of the received signal of the second set frequency band radar is wrong or invalid, the controller controls the second set frequency band radar to exit, and starts the first set frequency band radar.
As a further improvement of the vehicle provided by the present invention, if a group of radars is arranged in the forward direction of the vehicle, the controller further obtains the current vehicle speed and the current gear of the vehicle, and when the current vehicle speed is less than the first set speed value and the current gear is the forward gear, the controller controls the first set frequency band radar in the forward direction of the vehicle to operate.
As a further improvement of the vehicle provided by the present invention, if a group of radars is arranged in the rear direction of the vehicle, the controller further obtains a current vehicle speed and a current gear of the vehicle, and when the current vehicle speed is less than the second set speed value and the current gear is a reverse gear, the controller controls the radar of the first set frequency band in the rear direction of the vehicle to operate.
As another improvement of the vehicle provided by the invention, a group of radars is arranged on the left side and/or the right side of the vehicle.
As another improvement of the vehicle provided by the present invention, the controller controls the first set frequency band radar and the second set frequency band radar arranged on the left side and/or the right side to operate, and the controller acquires each received signal of each frequency band radar and determines whether a time sequence of each received signal is wrong or invalid; and if the time sequence of the received signal is wrong or invalid, the controller controls the frequency band radar corresponding to the received signal to exit.
Drawings
Fig. 1 is a flowchart of a radar detection control method of a vehicle of embodiment 1;
fig. 2 is a flowchart of a radar detection control method of a vehicle of embodiment 2;
FIG. 3 is a schematic diagram of a radar location configuration for a vehicle;
fig. 4 is a flowchart of a radar detection control method of a vehicle of embodiment 3;
fig. 5 is a flowchart of a radar detection control method of a vehicle of embodiment 4;
fig. 6 is a flowchart of a radar detection control method of a vehicle of embodiment 5.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The invention provides a vehicle, which comprises a controller and a radar detection system, wherein the controller can comprise a control unit and a radar host, the radar host is connected with the radar detection system to realize the radar detection and control functions, and the control unit can be a controller of the vehicle, such as a whole vehicle controller; the controller may be a separate controller directly connected to the radar detection system to control the radar detection system, and the separate controller may be a new control device provided in the vehicle according to the application or a controller provided in the vehicle itself to achieve the application required in the present invention.
The radar detection system comprises at least two frequency bands of radars, wherein the radars can be ultrasonic radars. The controller comprises a control unit and a radar host, the control unit is a vehicle control unit, the radar is an ultrasonic radar for example, the radar host is in communication connection with the vehicle control unit, a group of ultrasonic radars are arranged in at least one of the front, back, left and right directions of the vehicle, each group of ultrasonic radars comprises ultrasonic radar probes with at least two frequency bands, and the radar host is connected with the ultrasonic radar probes.
Example 1
In order to control the radar in the vehicle to realize corresponding functions and solve the problem that the safety of the vehicle is reduced due to poor anti-interference capability of the existing vehicle ultrasonic radar detection system, embodiment 1 provides a radar detection control method for the vehicle, which is illustrated only by setting A, B radars in two frequency bands in embodiment 1, and the method includes the following steps, as shown in fig. 1:
1) and acquiring a radar receiving signal of the frequency band A, and judging whether the time sequence of the receiving signal is wrong or invalid.
The existing radar technology is applied to analyze whether the radar which should normally work is in a normal receiving and sending working state, and when the time sequence of the received signal is wrong or invalid, the radar is proved to have problems or be interfered by external ultrasonic signals.
2) And if the time sequence of the received signals is wrong or invalid, controlling the A-frequency band radar to exit, and starting the B-frequency band radar.
When the mistake appears or became invalid, the controller control radar host computer switches the radar detection from A frequency channel radar to B frequency channel radar to make ultrasonic radar can normal detection, improve the interference killing feature and improve vehicle security performance.
Example 2
On the basis of embodiment 1, in order to further analyze the failure cause of the a-band radar and take different controls for different causes, as shown in fig. 2, when the received signal timing is wrong or fails, the following steps are further performed:
1. and controlling the A-band radar to stop sending signals, and judging whether the A-band radar receives interference signals.
Therefore, the transmitting end of the A-band radar is closed, the signal is stopped being sent, and whether the radar can still receive the ultrasonic signal or not is judged.
2. If yes, the A frequency band radar is closed, and the B frequency band radar is opened.
If the radar still can receive the ultrasonic signal, then judge that the external world has interfering signal, radar itself does not have the problem temporarily, consequently need switch to the B frequency channel radar, makes its work of replacing current A frequency channel radar, solves the problem of the interference of radar.
If the radar can not receive the ultrasonic signal, the radar is considered to have a fault and cannot normally work, so that the maintenance work is required, the radar system is closed, the alarm is controlled, a driver can notice the problem of the radar system, and the running safety of the vehicle is ensured.
3. And when the time sequence of the received signal of the B-band radar is wrong or invalid and an interference signal can be received after the signal is stopped to be sent, closing the B-band radar and opening the A-band radar.
Similarly, if the B-band radar has the problem of the same as the A-band radar, the B-band radar is switched back to the A-band radar, or the B-band radar has a fault, the radar system is shut down, and the alarm is controlled.
Example 3
This embodiment 3 selects to install above-mentioned a set of preceding radar in the preceding of vehicle on the basis of embodiment 2, and on enclosing the bumper before the vehicle each preceding radar probe group is installed to each, and the radar host computer is connected to the output of each preceding radar probe of each frequency channel. As shown in fig. 3, it is provided with a set of preceding radar to enclose before on the bumper, including 4 pairs of preceding radars, every pair of preceding radar contains the preceding radar probe of two frequency channels, and Fu1 is preceding a frequency channel radar probe, and Fu2 is preceding B frequency channel radar probe.
Corresponding to the control method of this embodiment 3, corresponding information is added according to a requirement, so as to implement a problem of determining whether the radar works. And judging the requirement of the driver on the radar under the current condition through the current speed and gear information of the vehicle in the whole vehicle controller.
As shown in fig. 4, the current speed and the current gear information of the vehicle are obtained through the communication connection between the radar host and the vehicle control unit.
And when the current vehicle speed is less than the first set speed value and the current gear is a forward gear, controlling the forward A-band radar or the forward B-band radar of the vehicle to be started.
According to the driving requirement, if the ultrasonic radar is arranged in the other directions of the vehicle, when the vehicle moves forwards, the radar probes in the other directions do not need to be opened, resources are saved, operation is performed, and only when the speed of the vehicle is smaller than a set speed value, an obstacle possibly exists in front of the vehicle, so that the forward radar probe is started to work, and the driving assistance function is realized.
Example 4
On this basis, according to the demand of the customer for the vehicle, as an improvement, this embodiment 4 still provides a vehicle with rear radar on embodiment 2 or on the basis of embodiment 3, and each rear radar probe group is installed on the rear bumper of vehicle, and the radar host computer is connected to the output of each rear radar probe of each frequency channel. As shown in fig. 3, a set of 4 pairs of backward radars are arranged on the rear bumper, each pair of backward radars includes two frequency bands of forward radar probes, Fu11 is a backward a-band radar probe, and Fu21 is a backward B-band radar probe.
On the basis of the method of embodiment 2 or embodiment 3, taking the method of embodiment 2 as an example, as shown in fig. 5, when the current vehicle speed is less than the second set speed value and the current shift position is the reverse shift position, the control method controls the a-band radar or the B-band radar in the backward direction of the vehicle to be turned on. The first set speed value and the second set speed value may be set to the same value.
According to the driving requirement, if the ultrasonic radar is arranged in the other directions of the vehicle, when the vehicle backs up, the radar probes in the other directions do not need to be opened at present so as to save resources and calculation, and only when the speed of the vehicle is smaller than a set speed value, the obstacle possibly exists behind the vehicle, so that the radar probes behind the vehicle are started to work, and the driving assistance function is realized.
Example 5
In this embodiment 5, on the basis of the embodiment 1, the embodiment 2, the embodiment 3, or the embodiment 4, a vehicle with a right-side radar and/or a right-side radar is further provided, and the following control method is further mainly described by an improvement on the basis of the embodiment 1, and the radar is installed, as shown in fig. 3, the right side of the vehicle body of the vehicle further includes a group of right-side radars, and radar probes of each frequency band in the group of right-side radars are alternately installed on a lower right-side vehicle body of the vehicle; the left side of the vehicle body of the vehicle further comprises a group of left side radars, and radar probes of all frequency bands in the group of left side radars are alternately arranged on the lower portion of the left side of the vehicle body. Select the radar probe of two kinds of at least frequency channels in a set of radar, this embodiment 5 still explains with A, B two kinds of frequency channel probes, according to the vehicle length, arranges suitable quantity's A frequency channel radar probe and B frequency channel radar probe in turn, and in the part of inclining downwards of the right side automobile body of vehicle, realizes A frequency channel radar probe and B frequency channel radar autonomous working, and mutual interference does not have, has reduced the whole scanning time of system, has improved the operating speed restriction.
As for the radars on the left and right sides, the operation can be performed according to the operation mode corresponding to the method in embodiment 1, in addition, as shown in fig. 6, under normal conditions, the radar in the a frequency band and the radar in the B frequency band can also scan independently, so that the time for overall scanning is shortened, the operation speed is high, and when the radar in the a frequency band or the radar in the B frequency band receives interference, the radar in the a frequency band or the radar in the B frequency band is turned off, the operation speed is reduced, and the system is reported. The system starting logic or the alarm logic can also add signals such as a turn light signal, a detection distance signal, a function switch and the like, so that frequent alarm is avoided.
The present invention has been described in relation to particular embodiments thereof, but the invention is not limited to the described embodiments. In the thought given by the present invention, the technical means in the above embodiments are changed, replaced, modified in a manner that is easily imaginable to those skilled in the art, and the functions are basically the same as the corresponding technical means in the present invention, and the purpose of the invention is basically the same, so that the technical scheme formed by fine tuning the above embodiments still falls into the protection scope of the present invention.
Claims (10)
1. A radar detection control method of a vehicle, characterized by comprising the steps of:
1) arranging a group of radars in at least one direction of the front, the back, the left and the right of the vehicle, wherein each group of radars comprises radars in at least two frequency bands and controls the radars in the first set frequency band to work;
2) acquiring a receiving signal of a first set frequency band radar, and judging whether the time sequence of the receiving signal is wrong or invalid;
3) if the time sequence of the received signal is wrong or invalid, controlling the first set frequency band radar to stop sending the signal, and judging whether the first set frequency band radar receives an interference signal; if not, the first set frequency band radar is closed, the alarm is controlled, and the second set frequency band radar is opened; if yes, the first set frequency band radar is controlled to exit, and the second set frequency band radar is started.
2. The radar detection control method for a vehicle according to claim 1, wherein when a timing sequence of a received signal of the second set frequency band radar is incorrect or invalid, the second set frequency band radar is controlled to exit and the first set frequency band radar is turned on.
3. The radar detection control method of the vehicle according to claim 2, wherein in the step 1), if a group of radars is arranged in the forward direction of the vehicle, a current vehicle speed and a current gear of the vehicle are further obtained, and when the current vehicle speed is less than a first set speed value and the current gear is a forward gear, the radar in the first set frequency range in the forward direction of the vehicle is controlled to operate.
4. The radar detection control method of the vehicle according to claim 2 or 3, wherein in the step 1), if a group of radars is arranged in the backward direction of the vehicle, the current vehicle speed and the current gear of the vehicle are further obtained, and when the current vehicle speed is less than the second set speed value and the current gear is the reverse gear, the radar in the backward direction of the vehicle is controlled to operate in the first set frequency band.
5. The radar detection control method of a vehicle according to claim 1, wherein a set of radars is disposed at the left and/or right side of the vehicle in step 1).
6. A vehicle comprising a controller and a set of radars arranged in at least one direction of the vehicle, each set of radars comprising radars in at least two frequency bands; the controller controls the first set frequency band radar to work and obtains a receiving signal of the first set frequency band radar, and the controller judges whether the time sequence of the receiving signal is wrong or invalid; if the time sequence of the received signal is wrong or invalid, the controller controls the first set frequency band radar to stop sending the signal and judges whether the first set frequency band radar receives an interference signal; if not, the controller closes the first set frequency band radar, controls to give an alarm and opens the second set frequency band radar; if yes, the controller controls the first set frequency band radar to exit, and the second set frequency band radar is started.
7. The vehicle of claim 6, wherein the controller controls the second frequency band radar to exit and turn on the first frequency band radar when the timing of the received signal of the second frequency band radar is incorrect or invalid.
8. The vehicle of claim 7, wherein if a group of radars is arranged in the forward direction of the vehicle, the controller further obtains the current vehicle speed and the current gear of the vehicle, and when the current vehicle speed is less than the first set speed value and the current gear is the forward gear, the controller controls the first set frequency band radar in the forward direction of the vehicle to work.
9. The vehicle according to claim 7 or 8, wherein if a group of radars is arranged in the rear direction of the vehicle, the controller further obtains the current vehicle speed and the current gear of the vehicle, and when the current vehicle speed is less than the second set speed value and the current gear is the reverse gear, the controller controls the radar in the first set frequency band in the rear direction of the vehicle to work.
10. Vehicle according to claim 6, characterized in that a set of radars is arranged on the left and/or right side of the vehicle.
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