CN113511136B - Reversing alarm method and device - Google Patents
Reversing alarm method and device Download PDFInfo
- Publication number
- CN113511136B CN113511136B CN202010279916.0A CN202010279916A CN113511136B CN 113511136 B CN113511136 B CN 113511136B CN 202010279916 A CN202010279916 A CN 202010279916A CN 113511136 B CN113511136 B CN 113511136B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- obstacle
- alarm
- distance
- sensor detection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 43
- 238000001514 detection method Methods 0.000 claims abstract description 213
- 238000004590 computer program Methods 0.000 claims description 12
- 230000008859 change Effects 0.000 claims description 11
- 230000002441 reversible effect Effects 0.000 claims description 10
- 230000003213 activating effect Effects 0.000 claims 1
- 238000007790 scraping Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 description 7
- 238000012360 testing method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/002—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle
- B60Q9/004—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors
- B60Q9/006—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors using a distance sensor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/002—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle
- B60Q9/007—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle providing information about the distance to an obstacle, e.g. varying sound
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a reversing alarm method and a reversing alarm device, when a reversing signal of a vehicle is received, the method starts a multi-path sensor according to a driving direction by acquiring a gear signal and a vehicle speed of the vehicle so as to acquire distances between each obstacle in each path of sensor detection area and the vehicle, correspondingly determines the shortest distance between each obstacle in each path of sensor detection area and the vehicle according to the distances between each obstacle in each path of sensor detection area and the vehicle, and carries out grading alarm according to the shortest distance between each obstacle in each path of sensor detection area and the vehicle speed; the invention can alert the surrounding environment state of the driver when backing up, and reduce the risk of scraping.
Description
Technical Field
The invention relates to the technical field of vehicle reversing radars, in particular to a reversing alarm method and device.
Background
The reversing radar is also called as a parking auxiliary device, and is a safety auxiliary device for processing parking or reversing. In the reversing process, a driver can observe the conditions outside the vehicle by using the left rearview mirror, the right rearview mirror and the inside rearview mirror, but the range observed from the inside of the mirror surface is limited, so that the reversing radar has very remarkable effect as an important component part of the reversing auxiliary system. The reversing radar is generally composed of an ultrasonic sensor, a controller, a display (or a buzzer) and the like, the ultrasonic sensor emits pulse signals, signals reflected by obstacles are transmitted to the controller for operation processing, the positions between the obstacles and the vehicle are calculated and transmitted to a display screen to be displayed, and a driver is prompted in a buzzer sound alarm mode, so that the driver can master the front and rear conditions of the vehicle, and the vehicle body and the obstacles are prevented from being scraped.
However, in the prior art, the reversing radar system still has a few problems, the detection area of the reversing radar system is not comprehensive enough, and potential safety hazards still exist, for example, the detection area of the reversing radar alarm system of patent number CN108919279a is only a front area and a rear area of a vehicle, the detection area is limited, a detection blind area exists, when an obstacle is detected and a driver is warned, the warning prompt to the driver is not comprehensive enough and the prompt force is the same, so that the driver cannot comprehensively and effectively receive warning feedback, and the risk of scraping and collision of the vehicle is caused.
Disclosure of Invention
The invention provides a reversing alarm method and device, which are used for solving the problem that in the prior art, the reversing radar system is insufficient in detection area and alarm prompt is not classified.
A reversing alarm method, comprising:
when a reversing signal of a vehicle is received, acquiring the running direction and the speed of the vehicle;
starting a plurality of sensors according to the running direction to obtain the distance between each obstacle in each sensor detection area and the vehicle, wherein the plurality of sensors are sensors which are pre-installed on the vehicle and are used for detecting the obstacles around the vehicle;
Determining the shortest distance between the obstacle in each sensor detection area and the vehicle according to the distance between the obstacle in each sensor detection area and the vehicle;
and carrying out graded alarm according to the shortest distance between the obstacle in each sensor detection area and the vehicle speed.
Further, the step of alarming according to the shortest distance between the obstacle and the vehicle in the detection area of each sensor and the vehicle speed comprises the following steps:
determining whether the speed of the vehicle is less than a preset speed;
when the speed of the vehicle is smaller than the preset speed, determining the alarm level of the corresponding area according to the shortest distance between the obstacle in each sensor detection area and the vehicle;
and carrying out hierarchical alarm of the corresponding area according to the alarm level.
Further, the step of performing the hierarchical alarm according to the alarm level includes:
performing interface display alarm according to the alarm level of the corresponding area, wherein the interface color of the interface display alarm changes along with the change of the alarm level;
and carrying out sound alarm according to the alarm level of the corresponding area, wherein the sound frequency of the sound alarm changes along with the change of the alarm level.
Further, after the audible alarm is given according to the alarm level, the method further comprises:
determining a target distance according to the shortest distance between the obstacle in each sensor detection area and the vehicle, wherein the target distance is the shortest distance between each obstacle in all sensor detection areas and the vehicle;
and when the target distance is greater than a preset mute distance or the vehicle is stationary and longer than a preset duration, the sound grading alarm is turned off.
Further, after determining the target distance according to the shortest distance between each obstacle and the vehicle in each sensor detection area, the method further includes:
and when the target distance is smaller than a preset emergency braking distance, controlling the vehicle to perform emergency braking.
Further, the multi-path sensor is a 12-path sensor, and the 12-path sensor comprises:
the front 6-way sensor comprises 4 headstock sensors and 2 front side sensors, wherein the 4 headstock sensors comprise headstock left angle sensors, headstock right angle sensors and 2 front side sensors, and the 2 front side sensors comprise left front side sensors and right front side sensors;
the rear 6-way sensor comprises 4 rear sensors and 2 rear side sensors, wherein the 4 rear sensors comprise a rear left corner sensor, a rear right corner sensor and 2 front rear sensors, and the 2 rear side sensors comprise a left rear side sensor and a right rear side sensor.
Further, the starting the multi-path sensor according to the driving direction to obtain the distance between each obstacle in each path sensor detection area and the vehicle includes:
when the running direction is forward running, starting the front 6-path sensor to acquire the distance between each obstacle in the detection area of the front 6-path sensor and the vehicle;
and when the running direction is backward running, starting the 12 paths of sensors to acquire the distance between each obstacle in the 12 paths of sensor detection areas and the vehicle.
Further, the determining the alarm level according to the shortest distance between each obstacle in each sensor detection area and the vehicle includes:
determining the alarm level as a first level when the shortest distance between the obstacle in the 2 rear side sensor detection areas and the vehicle is smaller than a first preset distance, or the shortest distance between the obstacle in the 2 front side sensor detection areas and the vehicle is smaller than a second preset distance, or the shortest distance between the obstacle in the 4 head sensor detection areas and the vehicle is smaller than a third preset distance, or the shortest distance between the obstacle in the 4 tail sensor detection areas and the vehicle is smaller than the third preset distance;
And determining the alarm grade as a second grade when the shortest distance between the obstacle in the 2 rear side sensor detection areas and the vehicle is smaller than a fourth preset distance, or the shortest distance between the obstacle in the 2 front side sensor detection areas and the vehicle is smaller than a fifth preset distance, or the shortest distance between the obstacle in the 4 head sensor detection areas and the vehicle is smaller than a sixth preset distance, or the shortest distance between the obstacle in the 4 tail sensor detection areas and the vehicle is smaller than the sixth preset distance.
A reversing alarm device comprising:
the first acquisition module is used for acquiring the running direction and the speed of the vehicle when receiving a reversing signal of the vehicle;
the second acquisition module is used for starting a plurality of sensors according to the running direction to acquire the distance between each obstacle in each sensor detection area and the vehicle, wherein the plurality of sensors are sensors which are pre-installed on the vehicle and are used for detecting the obstacles around the vehicle;
the determining module is used for correspondingly determining the shortest distance between the obstacle in each path of sensor detection area and the vehicle according to the distance between each obstacle in each path of sensor detection area and the vehicle;
And the alarm module is used for carrying out graded alarm according to the shortest distance between the obstacle in the detection area of each sensor and the vehicle and the speed of the vehicle.
The reversing alarm device comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the steps of the reversing alarm method when executing the computer program.
A reversing alarm system comprises the reversing alarm device and 12 paths of sensors for detecting obstacles around a vehicle, wherein the 12 paths of sensors comprise the front 6 paths of sensors and the rear 6 paths of sensors.
A readable storage medium storing a computer program which when executed by a processor implements the steps of a reverse alarm method as described above.
In one scheme of the reversing alarm method and the reversing alarm device, when a reversing signal of a vehicle is received, a multi-path sensor is started according to a driving direction by acquiring a gear signal and a vehicle speed of the vehicle so as to acquire distances between each obstacle in each path of sensor detection area and the vehicle, the multi-path sensor is a sensor which is pre-installed on the vehicle and is used for detecting the obstacles around the vehicle, the shortest distance between each obstacle in each path of sensor detection area and the vehicle is correspondingly determined according to the distances between each obstacle in each path of sensor detection area and the vehicle, and grading alarm is carried out according to the shortest distance between each obstacle in each path of sensor detection area and the vehicle speed; according to the invention, the multipath sensors which are pre-installed on the vehicle are started to detect the distance between the obstacle and the vehicle in each area around the vehicle, and the shortest distance between the obstacle and the vehicle in each sensor detection area is determined, so that the obstacle condition in the range around the vehicle can be detected, the detection area of the vehicle is increased, the vehicle is controlled according to the shortest distance between the obstacle and the vehicle in each area around the vehicle and the vehicle speed in a grading manner, the driver can control the vehicle according to the alarm prompt, the prompt force of the driver is increased according to different alarm grades, the problems that the detection area of the reversing radar system is insufficient and the alarm prompt is not graded in the prior art are solved, the reversing radar system has good warning effect in complex environments, the surrounding environment state of the driver can be alerted when the driver backs a car, and the risk of scraping is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments of the present invention will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a reverse alarm method according to an embodiment of the invention;
FIG. 2 is a schematic diagram of the installation of a 12-way sensor in an embodiment of the invention;
FIG. 3 is a schematic diagram of the detection area of a 12-way sensor according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a flow chart for implementing step S50 in a reversing alarm method according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a reversing alarm device according to an embodiment of the present invention;
fig. 6 is a schematic diagram of another structure of the reversing alarm device according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The reversing alarm method provided by the embodiment of the invention can be applied to a reversing alarm system, and the reversing alarm system comprises a reversing alarm device and 12 paths of sensors for detecting obstacles around a vehicle. The reversing alarm device and the 12 sensors communicate through a bus. When a reversing signal of a vehicle is received, the reversing alarm device acquires a gear signal and a vehicle speed of the vehicle, determines the running direction of the vehicle according to the gear signal, starts a plurality of sensors in 12 sensors which are arranged on the vehicle in advance and are used for detecting obstacles around the vehicle according to the running direction so as to acquire the distance between each obstacle in each sensor detection area and the vehicle, correspondingly determines the shortest distance between each obstacle in each sensor detection area and the vehicle according to the distance between each obstacle in each sensor detection area and the vehicle, and then carries out grading alarm according to the shortest distance between each obstacle in each sensor detection area and the vehicle speed.
The 12 paths of sensors comprise a front 6 paths of sensors and a rear 6 paths of sensors of the vehicle, and the 12 paths of sensors can be all ultrasonic sensors.
In this embodiment, the ultrasonic sensor is taken as an example of a sensor that is pre-installed on the vehicle and is used for detecting the obstacle around the vehicle, and in other embodiments, the sensor that is pre-installed on the vehicle and is used for detecting the obstacle around the vehicle may be other sensors, which are not described herein.
In this embodiment, the reversing alarm system includes a reversing alarm device and 12 sensors for illustration only, and in other embodiments, the reversing alarm system further includes other components, which are not described herein.
In one embodiment, as shown in fig. 1, a reversing alarm method is provided, and the reversing radar system is used as an example for the reversing alarm method, which specifically includes the following steps:
s10: it is determined whether a reverse signal of the vehicle is received.
The reversing signal of the vehicle can be obtained by obtaining the panoramic key signal and the reversing key signal, and when the obtained panoramic key signal and reversing key signal are pressed down, the reversing radar system is indicated to be started, and the reversing signal of the vehicle is determined to be received.
For example, when a vehicle has a parking requirement, in order to avoid the risk of scraping and colliding with an obstacle during the parking process of the vehicle, after the vehicle finds a parking space, a reversing radar system needs to be started to guide a driver of the vehicle to travel to the found parking space. If the panoramic key signal and the reversing key signal are pressed, the reversing radar system is indicated to be started, the reversing signal of the vehicle is confirmed to be received, and the gear signal and the vehicle speed of the vehicle are required to be acquired so as to detect the obstacle according to the gear signal of the vehicle, and the grading alarm is carried out according to the distance between each obstacle and the vehicle in each sensor detection area and the vehicle speed.
In this embodiment, the reversing signal of the vehicle may be obtained by obtaining the panoramic key signal and the reversing key signal, which is only illustrated by way of example, and in other embodiments, the reversing signal of the vehicle may also be obtained by other manners, which are not described herein.
S20: when a reversing signal of the vehicle is received, the running direction and the speed of the vehicle are obtained.
When a reversing signal of the vehicle is received, a gear signal and a vehicle speed of the vehicle are obtained, so that after the vehicle radar system is determined to be started, obstacle detection is performed according to the running direction of the vehicle, and grading alarm is performed according to the distance between each obstacle and the vehicle in each sensor detection area and the vehicle speed.
The driving direction of the vehicle can be determined through the gear of the vehicle, and after receiving the reversing signal of the vehicle and acquiring the gear signal of the vehicle, the driving direction of the vehicle is determined according to the gear signal of the vehicle.
For example, when the gear signal of the vehicle is D, the traveling direction of the vehicle is determined to be forward traveling; when the gear signal of the vehicle is R gear, the running direction of the vehicle is determined to be backward running.
The driving direction of the vehicle CAN also be obtained by reading a CAN message sent by the vehicle controller.
The vehicle speed, the running direction, the panoramic key signal and the reversing radar key signal of the vehicle CAN be obtained by reading the CAN message sent by the vehicle controller.
In this embodiment, the speed, the running direction, the panoramic key signal and the reversing radar key signal of the vehicle are only illustrated by way of the CAN message, and in other embodiments, the speed, the running direction, the panoramic key signal and the reversing radar key signal of the vehicle may be also acquired by other manners, which are not described herein.
S30: and starting a multi-path sensor according to the driving direction to acquire the distance between each obstacle in each sensor detection area and the vehicle, wherein the multi-path sensor is a sensor which is pre-installed on the vehicle and is used for detecting the obstacles around the vehicle.
After the running direction of the vehicle is determined according to the gear signal, a multi-path sensor is started according to the running direction to acquire coordinates of each obstacle in each path of sensor detection area, so that distances between each obstacle in each path of sensor detection area and the vehicle are acquired, wherein the multi-path sensor is a sensor which is pre-installed on the vehicle and used for detecting obstacles around the vehicle.
Wherein, the multichannel sensor that installs on the vehicle in advance detects the obstacle around the vehicle, and the detection scope divide into 4 regions of front sensor, 4 regions of rear sensor and 4 regions on the side.
In the automatic parking process, the requirement on the vehicle is high when the vehicle runs backwards, and the obstacle state within 360 degrees around the vehicle needs to be concerned, so that all sensors arranged around the vehicle are started to acquire the obstacle within 360 degrees around the vehicle.
After the multi-path sensor is started according to the driving direction, the distance between each obstacle in each ultrasonic sensor detection area and the vehicle is calculated according to each ultrasonic wave generating logic which is detected by adopting time transition and combined with a temperature and time calibration method, and the calculation formula is as follows:
S＝(V×T m )/2；
T m ＝T h +(T send- T rev )；
wherein S is the distance between each obstacle and the vehicle in the detection area of a certain ultrasonic sensor, V is the ultrasonic speed, T emp At ambient temperature, T m Is the final calibration echo time, T h Is the detection time of echo, T send Is the time stamp of the current wave channel, T rev Is the timestamp of the current receive channel.
In one embodiment, the sensor pre-installed on the vehicle for detecting obstacles around the vehicle is a 12-way ultrasonic sensor, and the 12-way ultrasonic sensor specifically includes:
a. the front 6-way sensor comprises 4 headstock sensors and 2 front side sensors, wherein the 4 headstock sensors comprise headstock left-angle sensors, headstock right-angle sensors and 2 front side sensors, and the 2 front side sensors comprise left front side sensors and right front side sensors;
b. The rear 6-way sensor comprises 4 rear sensors and 2 rear side sensors, wherein the 4 rear sensors comprise a rear left corner sensor, a rear right corner sensor and 2 front rear sensors, and the 2 rear side sensors comprise a left rear side sensor and a right rear side sensor.
In this embodiment, the ultrasonic sensor pre-installed on the vehicle for detecting the obstacle around the vehicle is 12 paths only for illustration, and in other embodiments, the ultrasonic sensor pre-installed on the vehicle for detecting the obstacle around the vehicle may also be other values, which are not described herein.
Specifically, a two-dimensional coordinate system is established by taking the center of the vehicle as an origin, 4 large areas are divided around the vehicle and the vehicle, the installation positions of the 12 ultrasonic sensors are shown in fig. 2, wherein FA-FE is a front 6-way sensor, FA is a left-angle sensor of a vehicle head, FD is a right-angle sensor of the vehicle head, FB and FC are 2 front sensors, FF is a left front sensor, and FE is a right front sensor; RA-RE is the front 6-way sensor, RD is the left-hand sensor of the vehicle tail, RA is the right-hand sensor of the vehicle tail, RB and RC are 2 directly behind sensors, RE is the left rear side sensor, RF is the right rear side sensor, namely the mounting positions of 1-12 ultrasonic sensors are respectively: FF. FA, FB, FC, FD, FE, RF, RA, RB, RC, RD, RE.
The vehicle head left angle sensor, the vehicle head right angle sensor, the vehicle tail left angle sensor and the vehicle tail right angle sensor are long-distance ultrasonic sensors, and the other 8 paths are short-distance ultrasonic sensors. According to the ultrasonic characteristics, the short-distance ultrasonic sensor detection range may be an area with a distance of 2m and an angle of 60 °, and the long-distance ultrasonic sensor detection range may be an area with a distance of 5m and an angle of 30 °, i.e., long-distance ultrasonic continuously records distance data of a forward travel distance of 5m and a backward travel distance of 5m of the vehicle. The long-distance ultrasonic sensor not only has the function of detecting obstacles, but also has the function of finding a parking space in the automatic parking process; the short-distance ultrasonic sensor is more stable in detection, so that the short-distance ultrasonic sensor mainly detects obstacles, and the stability and accuracy of obstacle detection of the multi-path sensor in the parking process are improved.
As shown in fig. 3, with the vehicle center as the origin (0, 0), the vehicle longitudinal direction (FRONT) as the MY axis, the vehicle transverse direction (FEAR) as the MX axis, and FA, FB, FC, FD, FE, FF as the FL, FLM, FRM, FR, FSR, FSL detection areas, respectively; RA, RB, RC, RD, RE, RF have detection areas RR, RRM, RLM, RL, RSL, RSR, respectively.
For example, when the vehicle is running backward, all 12 ultrasonic sensors are turned on to obtain 12 ultrasonic sensors to detect obstacles in the corresponding area, wherein the obstacles in the corresponding area of the 12 ultrasonic sensors are FL, FLM, FRM, FR, FSR, FSL, RR, RRM, RLM, RL, RSL, RSR obstacles in the corresponding area.
In this embodiment, the installation positions and detection areas of the 12-way ultrasonic sensor are only illustrated by way of example, and in other embodiments, the installation positions and detection areas of the 12-way ultrasonic sensor may be other, which will not be described herein.
In the embodiment, the panoramic environment of 360 degrees around the vehicle is detected in multiple directions by dividing different areas, so that the monitoring purpose of all directions and the blind area range is achieved.
S40: and correspondingly determining the shortest distance between the obstacle and the vehicle in each path of sensor detection area according to the distance between the obstacle and the vehicle in each path of sensor detection area.
When there are a plurality of obstacles around the vehicle, since each sensor may detect a plurality of obstacles, the distance between the obstacle obtained by each sensor and the vehicle is a plurality, and after the multi-path sensor is activated according to the traveling direction to obtain the distance between each obstacle and the vehicle, the shortest distance between each obstacle and the vehicle in each sensor detection area is correspondingly determined according to the distance between each obstacle and the vehicle in each sensor detection area.
Specifically, each ultrasonic sensor may detect and record coordinate points of 30 obstacles, i.e., each ultrasonic sensor may obtain a distance between the vehicle and at most 30 obstacles.
For example, during the reverse, the FA sensor detects 3 obstacles in the detection area FL, and the distances between the 3 obstacles in the area FL and the vehicle are 60cm, 80cm, and 120cm, respectively, wherein 60cm is the shortest distance between the FA sensor and the vehicle in the detection area FL.
S50: and carrying out grading alarm according to the shortest distance between the obstacle and the vehicle in the detection area of each sensor and the speed of the vehicle.
And after the speed of the vehicle is obtained, the shortest distance between the obstacle and the vehicle in the detection area of each ultrasonic sensor is correspondingly determined according to the distance between the obstacle and the vehicle in the detection area of each sensor, and then the step alarm is carried out according to the shortest distance between the obstacle and the vehicle in the detection area of each ultrasonic sensor and the speed of the vehicle.
For example, the areas FL, FLM, FRM, FR, FSR, FSL, RR, RRM, RLM, RL, RSL, RSR corresponding to the 12 ultrasonic sensors have different alarm distances. When the vehicle runs backwards, all 12 paths of ultrasonic sensors are started to obtain distances between the obstacles and the vehicle in the surrounding range of the vehicle, and after the shortest distance between the obstacles and the vehicle in each path of ultrasonic sensor detection area is determined, wherein the shortest distance in the FA ultrasonic sensor detection area is 60cm, the shortest distance in the FD ultrasonic sensor detection area is 110cm, and the alarm distances between the FA ultrasonic sensor detection area and the FA ultrasonic sensor detection area are different, the FA ultrasonic sensor detection area carries out graded alarm according to 60cm and the vehicle speed, and the FD ultrasonic sensor detection area carries out graded alarm according to 110cm and the vehicle speed so as to prompt a driver to acquire the obstacle information of the vehicle and control the vehicle according to the alarm prompt.
In the embodiment, when a reversing signal of a vehicle is received, a multi-path sensor is started according to a driving direction by acquiring a gear signal and a vehicle speed of the vehicle so as to acquire distances between each obstacle in each path of sensor detection area and the vehicle, wherein the multi-path sensor is a sensor which is pre-installed on the vehicle and is used for detecting the obstacles around the vehicle, the shortest distance between each obstacle in each path of sensor detection area and the vehicle is determined according to the distances between each obstacle in each path of sensor detection area and the vehicle, and graded alarm is carried out according to the shortest distance between each obstacle in each path of sensor detection area and the vehicle speed; according to the invention, the multipath sensors which are pre-installed on the vehicle are started to detect the distance between each obstacle in each area around the vehicle and the vehicle, and the shortest distance between each obstacle in each area and the vehicle is determined, so that the obstacle condition in the surrounding area of the vehicle can be detected, the detection area of the vehicle is improved, the vehicle is controlled according to the shortest distance and the vehicle speed of each area around the vehicle in a grading manner, the driver can control the vehicle according to the alarm prompt, the prompt force of the driver is increased according to different alarm grades, the problems that the detection area of the reversing radar system is insufficient and the alarm prompt is not graded in the prior art are solved, the reversing radar system has a good alarm effect in a complex environment, the surrounding environment state of the driver can be alerted when the driver backs a car, and the risk of scraping is reduced.
In one embodiment, after the driving direction of the vehicle is acquired, in step S30, the multi-path sensor is activated according to the driving direction to acquire the distance between each obstacle in each path sensor detection area and the vehicle, which specifically includes the following steps:
s31: when the traveling direction is forward traveling, the front 6-way sensor is activated to acquire the distance between each obstacle in the detection area of the front 6-way sensor and the vehicle.
During parking, the vehicle is mainly focused on the state of obstacles in front of the vehicle when traveling forward, and an ultrasonic sensor mounted in front of the vehicle is turned on to acquire the distance between each obstacle in front of the vehicle and the vehicle.
Specifically, when the traveling direction is forward traveling, the first 6 ultrasonic sensors FA, FB, FC, FD, FE, FF are activated to detect the distances between the respective obstacles in the area FL, FLM, FRM, FR, FSR, FSL and the vehicle, respectively.
S32: when the traveling direction is backward traveling, the 12 sensors are activated to acquire distances between the respective obstacles in the detection area of the 12 sensors and the vehicle.
When the vehicle is driven backwards, the requirement on the visual angle of the vehicle is higher, attention is required to be paid to the obstacle state in the range of 360 degrees around the vehicle, and all ultrasonic sensors arranged around the vehicle are started to acquire the distance between each obstacle in the range of 360 degrees around the vehicle and the vehicle.
Specifically, when the traveling direction is backward traveling, 12 ultrasonic sensors are activated to detect the distances between the respective obstacles and the vehicle in the area FL, FLM, FRM, FR, FSR, FSL, RR, RRM, RLM, RL, RSL, RSR, respectively.
In this embodiment, after the driving direction of the vehicle is obtained, when the driving direction is forward driving, the front 6-way sensor is started to obtain the distance between each obstacle in the detection area of the front 6-way sensor and the vehicle, when the driving direction is backward driving, the 12-way sensor is started to obtain the distance between each obstacle in the detection area of the 12-way sensor and the vehicle, when the driving direction of the vehicle is forward, the front of the vehicle is mainly focused on the obstacle state, only the front 6-way sensor is started to detect, when the vehicle is backward driving, the obstacle state in the surrounding area of the vehicle needs to be focused on, all the way sensors are started to detect, the sensors are controlled according to the actual requirement to obtain the shortest distance between the obstacle and the vehicle in the corresponding area, and under the condition of meeting the backward viewing angle, the energy consumption of the vehicle sensor is saved, and the calculation amount of the sensor data is reduced.
In one embodiment, after obtaining the speed of the vehicle and determining the shortest distance between the obstacle and the vehicle in each sensor detection area according to the distance between the obstacle and the vehicle in each sensor detection area, in step S50, a step of performing a step alarm according to the shortest distance between the obstacle and the vehicle in each sensor detection area and the speed of the vehicle specifically includes the following steps:
S51: it is determined whether the vehicle speed of the vehicle is less than a preset vehicle speed.
After the speed of the vehicle is obtained, the shortest distance between the obstacle and the vehicle in each path of ultrasonic sensor detection area is correspondingly determined according to the distance between the obstacle and the vehicle in each path of sensor detection area, and then whether the speed of the vehicle is smaller than the preset speed is determined according to the obtained speed.
S52: when the speed of the vehicle is smaller than the preset speed, determining the alarm level of the corresponding area according to the shortest distance between the obstacle in each sensor detection area and the vehicle.
When the speed of the vehicle is less than the preset speed, determining the alarm level in the corresponding area according to the shortest distance between the obstacle in the detection area of each ultrasonic sensor and the vehicle.
For example, the preset vehicle speed is 18km/h (kilometer/hour), and when the vehicle runs forward and whether the vehicle speed is less than 18km/h is determined, the alarm level corresponding to each area is determined according to the shortest distance in each FSL, FL, FLM, FRM, FR, FSR area.
In this embodiment, the preset vehicle speed is 18km/h only as an example, and in other embodiments, the preset vehicle speed may be other, which is not described herein.
Further, in step S52, an alarm level is determined according to the shortest distance between the obstacle and the vehicle in each sensor detection area, and specifically includes the following steps:
s521: and when the shortest distance between the obstacle and the vehicle in the detection areas of the 2 rear side sensors is smaller than a first preset distance, or the shortest distance between the obstacle and the vehicle in the detection areas of the 2 front side sensors is smaller than a second preset distance, or the shortest distance between the obstacle and the vehicle in the detection areas of the 4 head sensors is smaller than a third preset distance, or the shortest distance between the obstacle and the vehicle in the detection areas of the 4 tail sensors is smaller than the third preset distance, determining the alarm grade as the first grade.
The first preset distance is greater than the second preset distance, and the second preset distance is greater than the third preset distance.
Specifically, the shortest distance between the obstacle and the vehicle in the detection areas of the 2 rear side sensors is smaller than a first preset distance, namely, the shortest distance between the obstacle and the vehicle in the two areas of the RRM and the RLM is smaller than the first preset distance; or the shortest distance between the obstacle and the vehicle in the detection areas of the 2 front side sensors is smaller than a second preset distance, namely the shortest distance between the obstacle and the vehicle in the two areas of the FLM and the FRM is smaller than the second preset distance; or when the shortest distance between the obstacles and the vehicles in the detection areas of the 4 head sensors and the 4 tail sensors is smaller than a third preset distance, namely, the shortest distance between the obstacles and the vehicles in the FSL, FL, FR, FSR, RSR, RR, RL, RSL eight areas is smaller than the third preset distance, determining the alarm grade as the first grade.
For example, when the vehicle runs in the rear-front direction, the distance between the obstacle in 12 areas and the vehicle is acquired, the shortest distance in each area is determined, and if the shortest distance in the FLM and FRM areas is smaller than 110cm (110 cm is a critical value for judging whether the area alarms), the alarm grade of the FLM and FRM areas is determined to be the first grade and the alarm is performed; if the shortest distance of the FSL, FL, FR, FSR area is smaller than 60cm (60 cm is a critical value for judging whether the area alarms), determining the alarm grade of the FSL, FL, FR, FSR area as the first grade and alarming; if the shortest distance in the RRM and RLM areas is less than 150cm (150 cm is a critical value for judging whether the areas alarm or not and the alarm level is the lowest), determining the alarm level of the RRM and RLM areas as a first level and giving an alarm; if the shortest distance in the RSR, RR, RL, RSL area is less than 60cm (60 cm is a critical value for judging whether the area alarms), the alarm grade of the RSR, RR, RL, RSL area is determined to be the first grade and the alarm is performed.
In this embodiment, the first preset distance is 150cm, the second preset distance is 110cm, and the third preset distance is 60cm are only exemplary, and in other embodiments, the first preset distance, the second preset distance, and the third preset distance may be other, which are not described herein.
S522: and when the shortest distance between the obstacle and the vehicle in the detection areas of the 2 rear side sensors is smaller than a fourth preset distance, or the shortest distance between the obstacle and the vehicle in the detection areas of the 2 front side sensors is smaller than a fifth preset distance, or the shortest distance between the obstacle and the vehicle in the detection areas of the 4 head sensors is smaller than a sixth preset distance, or the shortest distance between the obstacle and the vehicle in the detection areas of the 4 tail sensors is smaller than the sixth preset distance, determining the alarm level as the second level.
Wherein the fourth preset distance is greater than the fifth preset distance, and the fifth preset distance is greater than the sixth preset distance.
When the shortest distance between the obstacle and the vehicle in each ultrasonic sensor detection area is reduced by a fixed value, the alarm level of each ultrasonic sensor detection area is increased by one level, for example, when the shortest distance between the obstacle and the vehicle in each ultrasonic sensor detection area is reduced by 30cm, the alarm level of each ultrasonic sensor detection area is increased by one level.
For example, the fourth preset distance is 120cm, the fifth preset distance is 90cm, the third preset distance is 30cm, when the vehicle runs in the rear-front direction, the distances between the obstacles in 12 areas and the vehicle are obtained, the shortest distance in each area is determined, and if the shortest distance between the obstacles in the FLM and FRM areas and the vehicle is smaller than 90cm, the alarm grade of the FLM and FRM areas is determined to be the second grade and the alarm is performed; if the shortest distance between the obstacle and the vehicle in the FSL, FL, FR, FSR area is less than 30cm, determining the alarm grade of the FSL, FL, FR, FSR area as a first grade and giving an alarm; if the shortest distance between the obstacle and the vehicle in the RRM and RLM areas is smaller than 120cm, determining the alarm level of the RRM and RLM areas as a second level and giving an alarm; and if the shortest distance between the RSR, RR, RL, RSL area obstacle and the vehicle is smaller than 60cm, determining the alarm grade of the RSR, RR, RL, RSL area as the second grade and giving an alarm.
In this embodiment, the fixed value is 30cm, the fourth preset distance is 120cm, the fifth preset distance is 90cm, and the sixth preset distance is 30cm are only exemplary, and in other embodiments, the fixed value, the fourth preset distance, the fifth preset distance, and the sixth preset distance may be other, which are not described herein.
In the embodiment, the step of determining the alarm level according to the shortest distance between the obstacle and the vehicle in the detection area of each sensor is further thinned, and the alarm accuracy of the detection area of each sensor is improved.
S53: and carrying out hierarchical alarm according to the alarm grade of the corresponding area.
After the alarm levels are determined according to the shortest distance between the obstacle and the vehicle in each ultrasonic sensor detection area, the alarm levels of each area are used for carrying out graded alarm to remind the driver.
Specifically, the alarm mode is divided into an audible alarm and a car-machine interface alarm, and in step S53, the step of performing a hierarchical alarm according to the alarm level specifically includes the following steps:
s531: and carrying out interface display alarm according to the alarm level of the corresponding area, wherein the interface color of the interface display alarm changes along with the change of the alarm level.
When the distance between the vehicle and the obstacle reaches the alarm range value, namely the shortest distance between the obstacle and the vehicle in each ultrasonic sensor detection area reaches the alarm distance, the alarm grade of each ultrasonic sensor detection area is determined according to the shortest distance between the obstacle and the vehicle in each ultrasonic sensor detection area, and the shortest distance between the obstacle and the vehicle in each ultrasonic sensor detection area is displayed to a driver through a vehicle-to-machine interface so as to realize interface display alarm.
The interface display alarm is characterized in that different grades are distinguished by the color depth of a vehicle-machine interface, the interface color of the interface display alarm changes along with the change of the alarm grade, the higher the alarm grade is, the darker the interface color is, so that the reminding strength of a driver is increased through the color of the vehicle-machine interface, and the driver can know the obstacles around the vehicle in real time.
S532: and carrying out sound alarm according to the alarm level of the corresponding area, wherein the sound frequency of the sound alarm changes along with the change of the alarm level.
When the distance between the vehicle and the obstacle reaches the range value capable of alarming, namely, the shortest distance between the obstacle and the vehicle in each ultrasonic sensor detection area reaches the alarm distance, the alarm grade of each ultrasonic sensor detection area is determined according to the shortest distance between the obstacle and the vehicle in each ultrasonic sensor detection area, and the highest alarm grade in each ultrasonic sensor detection area is subjected to sound alarm.
The frequency of the sound alarm distinguishes different grades, the frequency of the sound alarm changes along with the change of the alarm grade, the higher the alarm grade is, the higher the frequency of the alarm sound is, so that the reminding strength of a driver is increased through the frequency of the sound, and the driver can know the obstacles around the vehicle in real time.
The sound alarm outputs a CAN message of alarm sound to the car machine through the reversing alarm system, and the car machine controls the emission of corresponding sound level.
In the embodiment, the sound alarm and the vehicle-computer interface display alarm are used for reminding the driver of paying attention to various surrounding environments, so that the reminding strength of the driver is increased, and the driver can know the obstacles around the vehicle in real time.
In this embodiment, after determining the shortest distance between the obstacle and the vehicle in each sensor detection area, by determining whether the vehicle speed of the vehicle is less than the preset vehicle speed, when the vehicle speed of the vehicle is less than the preset vehicle speed, determining an alarm level according to the shortest distance between the obstacle and the vehicle in each sensor detection area, and performing hierarchical alarm according to the alarm level, the step of performing hierarchical alarm according to the shortest distance between the obstacle and the vehicle in each sensor detection area and the vehicle speed is further refined, and the alarm accuracy of each sensor detection area is improved, so that the driver obtains more accurate obstacle information.
In an embodiment, after the audible alarm according to the alarm level, after step S531, the method further comprises the steps of:
S534: and determining a target distance according to the shortest distance between the obstacle and the vehicle in each sensor detection area, wherein the target distance is the shortest distance between each obstacle and the vehicle in all the sensor detection areas.
For example, when the vehicle is traveling forward, the front 6 ultrasonic sensors are activated to detect the obstacle in the area FL, FLM, FRM, FR, FSR, FSL, respectively, wherein the shortest distance between the obstacle in the area FL, FLM, FRM, FR, FSR, FSL and the vehicle is 60cm, 65cm, 70cm, 75cm, 80cm, 85cm, respectively, and then the front 6 ultrasonic sensors detect the shortest distance between the obstacle in the area FL, FLM, FRM, FR, FSR, FSL and the vehicle is 60cm, and the target distance is 60cm; when the vehicle runs backwards, the 12 paths of ultrasonic sensors are started to detect the obstacles in the area FL, FLM, FRM, FR, FSR, FSL, RR, RRM, RLM, RL, RSL, RSR respectively, wherein the distances between the obstacles in the area FL, FLM, FRM, FR, FSR, FSL, RR, RRM, RLM, RL, RSL, RSR and the vehicle are 60cm, 65cm, 70cm, 75cm, 80cm, 85cm, 65cm, 64cm, 60cm, 50cm, 55cm, 90cm and 85cm respectively, and then the shortest distance between the obstacles in the area FL, FLM, FRM, FR, FSR, FSL, RR, RRM, RLM, RL, RSL, RSR and the vehicle is detected by the 12 paths of ultrasonic sensors to be 50cm, and the target distance is 60cm.
S535: when the target distance is greater than the preset mute distance or the vehicle is stationary and longer than the preset time, the audible alarm is turned off.
After the target distance is obtained, the change of the shortest distance between the obstacle and the vehicle in all the sensor detection areas is further determined according to the target distance, when the shortest distance between the vehicle and the obstacle is found to be increased to a certain range, or the vehicle is stationary for a period of time, namely, when the target distance is larger than a preset mute distance, or the vehicle is stationary for a period of time longer than a preset period of time, the sound alarm is closed, so that the interference influence of the sound alarm on a driver is reduced, and at the moment, the interface display alarm of the vehicle is still present.
For example, the preset mute distance is 10cm, the preset time period is 4 seconds, when the ultrasonic sensor detects that the vehicle is far away from the obstacle and the distance between the ultrasonic sensor and the vehicle is more than 10cm, the sound alarm is turned off, the mute state is entered, the shortest distance between all ultrasonic waves detected by the ultrasonic sensor at the previous moment and the vehicle is 60cm, and the shortest distance between all ultrasonic waves detected by the ultrasonic sensor at the previous moment and the vehicle is 75cm, and the mute is performed; or when the vehicle is stationary for longer than 4 seconds, the sound alarm is turned off to reduce the interference influence of the sound alarm on the driver, but the vehicle-machine interface display alarm still exists at the moment.
In this embodiment, the preset mute distance is 10cm, and the preset duration is 4 seconds are only exemplary, and in other embodiments, the preset mute distance and the preset duration may be other, which will not be described herein.
In this embodiment, after the sound alarm is performed according to the alarm level, the shortest distance between the obstacles and the vehicle in all the sensor detection areas is determined according to the distance between the obstacles and the vehicle in each sensor detection area, and when the sensor detects that the vehicle is far away from the nearest obstacle and the distance away from the nearest obstacle is greater than the preset mute distance, the sound alarm is turned off, or when the vehicle is stationary for a period longer than the preset period, the sound alarm is turned off, so as to reduce the interference influence of the sound alarm on the driver and improve the driving safety.
In an embodiment, after the target distance is correspondingly determined according to the distance between each obstacle and the vehicle in each sensor detection area, i.e. after step S534, the method further includes the steps of:
s536: when the target distance is greater than the preset emergency braking distance, the vehicle is controlled to perform emergency braking, collision with the obstacle is further avoided, the probability of collision between the vehicle and the obstacle is reduced, and driving safety is improved.
For example, the preset emergency braking distance is 9cm, when the shortest distance between the obstacles in all the ultrasonic sensor detection areas is smaller than 9cm, the vehicle is controlled to perform emergency braking so as to achieve the emergency braking function, collision with the obstacles is further avoided, the probability of collision between the vehicle and the obstacles is reduced, and driving safety is improved. In this embodiment, the preset emergency braking distance of 9cm is only illustrated as an example, and in other embodiments, the preset emergency braking distance may be other, which is not described herein.
In an embodiment, a method for testing a reversing alarm system through a bench is further provided, wherein the bench comprises an upper computer, a debugger, a CAN tool, a Microcontroller (MCU), a movable ultrasonic detection frame, a vehicle machine and a brake simulator, and the method specifically comprises the following steps:
s01: and (3) burning the binary code into the MCU through the debugger, and writing the ultrasonic parameters into the upper computer.
S02: the 12 ultrasonic sensors are arranged on the ultrasonic detection frame in advance, and the movable ultrasonic detection frame is moved in the area where the obstacle is set so as to simulate the test environment to detect the obstacle. Wherein the test environment comprises temperature.
S03: and reading the distance between each obstacle in the detection area of the 12 ultrasonic sensors on the upper computer and the vehicle, and reading out the fault information of the ultrasonic waves.
S04: and acquiring vehicle signals simulated by the CAN tool, acquiring the shortest distance between the obstacle in each ultrasonic sensor detection area and the vehicle according to the distance between the obstacle in each ultrasonic sensor detection area and the vehicle, and carrying out hierarchical alarm according to the vehicle signals and the shortest distance between the obstacle in each ultrasonic sensor detection area and the vehicle.
In the embodiment, by developing the upper computer, setting information such as ultrasonic parameters and temperature, receiving ultrasonic waves to obtain the distance between each obstacle in each sensor detection area and the vehicle, performing bench test on the vehicle, and testing the accuracy, the robustness and the effectiveness of the reversing alarm system in the bench, the development time of the whole reversing alarm system is shortened, the limitation of conditions is avoided, the manual testing efficiency is improved, the testing safety is ensured, and the time and the economic cost are saved.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present invention.
In one embodiment, a reversing alarm device is provided, and the reversing alarm device corresponds to the reversing alarm method in the embodiment one by one. As shown in fig. 5, the reversing alarm device includes a first acquisition module 501, a second acquisition module 502, a determination module 503, and an alarm module 504. The functional modules are described in detail as follows:
a first obtaining module 501, configured to obtain a running direction and a vehicle speed of a vehicle when receiving a reverse signal of the vehicle;
a second obtaining module 502, configured to start multiple sensors according to the driving direction to obtain distances between each obstacle in each sensor detection area and the vehicle, where the multiple sensors are sensors that are pre-installed on the vehicle and are used for detecting obstacles around the vehicle;
a determining module 503, configured to correspondingly determine a shortest distance between each obstacle in each sensor detection area and the vehicle according to a distance between each obstacle in each sensor detection area and the vehicle;
and the alarm module 504 is used for carrying out graded alarm according to the shortest distance between the obstacle in the detection area of each sensor and the vehicle and the speed of the vehicle.
Wherein, the alarm module 504 is specifically configured to:
Determining whether the speed of the vehicle is less than a preset speed;
when the speed of the vehicle is smaller than the preset speed, determining the alarm level of the corresponding area according to the shortest distance between the obstacle in each sensor detection area and the vehicle;
and carrying out hierarchical alarm of the corresponding area according to the alarm level.
Wherein, the alarm module 504 is specifically further configured to:
performing interface display alarm according to the alarm level of the corresponding area, wherein the interface color of the interface display alarm changes along with the change of the alarm level;
and carrying out sound alarm according to the alarm level of the corresponding area, wherein the sound frequency of the sound alarm changes along with the change of the alarm level.
Wherein, the alarm module 504 is specifically further configured to:
determining a target distance according to the shortest distance between the obstacle in each sensor detection area and the vehicle, wherein the target is the shortest distance between each obstacle in all sensor detection areas and the vehicle;
and when the target distance is greater than a preset mute distance or the vehicle is stationary and longer than a preset time, the sound grading alarm is turned off.
Wherein, the alarm module 504 is specifically further configured to:
And when the target distance is smaller than the preset emergency braking distance, controlling the vehicle to perform emergency braking.
The second obtaining module 502 is specifically configured to:
when the running direction is forward running, starting the front 6-path sensor to acquire the distance between each obstacle in the detection area of the front 6-path sensor and the vehicle;
and when the running direction is backward running, starting the 12 paths of sensors to acquire the distance between each obstacle in the 12 paths of sensor detection areas and the vehicle.
Wherein, the alarm module 504 is specifically further configured to:
determining the alarm level as a first level when the shortest distance between the obstacle in the 2 rear side sensor detection areas and the vehicle is smaller than a first preset distance, or the shortest distance between the obstacle in the 2 front side sensor detection areas and the vehicle is smaller than a second preset distance, or the shortest distance between the obstacle in the 4 head sensor detection areas and the vehicle is smaller than a third preset distance, or the shortest distance between the obstacle in the 4 tail sensor detection areas and the vehicle is smaller than the third preset distance;
And determining the alarm level as a second level when the shortest distance between the obstacle in the 2 rear side sensor detection areas and the vehicle is smaller than a fourth preset distance, or the shortest distance between the obstacle in the 2 front side sensor detection areas and the vehicle is smaller than a fifth preset distance, or the shortest distance between the obstacle in the 4 head sensor detection areas and the vehicle is smaller than a sixth preset distance, or the shortest distance between the obstacle in the 4 tail sensor detection areas and the vehicle is smaller than the sixth preset distance.
The specific limitation of the reversing alarm device can be referred to the limitation of the reversing alarm method hereinabove, and the description thereof is omitted. All or part of the modules in the reversing alarm device can be realized by software, hardware and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a reverse alarm device is provided, which may be a computer device. The reversing alarm device comprises a processor, a memory and a display screen which are connected through a bus, wherein the processor of the reversing alarm device is used for providing calculation and control capabilities. The memory of the reversing alarm device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The display screen of the reversing alarm device is used for carrying out grading alarm. The computer program when executed by the processor implements a reverse alarm method.
In one embodiment, as shown in fig. 6, there is provided a reversing alarm device including a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
when a reversing signal of a vehicle is received, acquiring the running direction and the speed of the vehicle;
starting a plurality of sensors according to the running direction to obtain the distance between each obstacle in each sensor detection area and the vehicle, wherein the plurality of sensors are sensors which are pre-installed on the vehicle and are used for detecting the obstacles around the vehicle;
determining the shortest distance between the obstacle in each sensor detection area and the vehicle according to the distance between the obstacle in each sensor detection area and the vehicle;
and carrying out grading alarm according to the shortest distance between the obstacle and the vehicle in the detection area of each sensor and the vehicle speed so as to enable a driver to acquire the obstacle information of the vehicle.
In one embodiment, a readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:
When a reversing signal of a vehicle is received, acquiring the running direction and the speed of the vehicle;
starting a plurality of sensors according to the running direction to obtain the distance between each obstacle in each sensor detection area and the vehicle, wherein the plurality of sensors are sensors which are pre-installed on the vehicle and are used for detecting the obstacles around the vehicle;
correspondingly determining the shortest distance between the obstacle in each sensor detection area and the vehicle according to the distance between the obstacle in each sensor detection area and the vehicle;
and carrying out grading alarm according to the shortest distance between the obstacle and the vehicle in the detection area of each sensor and the vehicle speed so as to enable a driver to acquire the obstacle information of the vehicle.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the various embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention.
Claims (9)
1. A reversing alarm method, comprising:
when a reversing signal of a vehicle is received, acquiring the running direction and the speed of the vehicle;
starting a plurality of sensors according to the running direction to obtain the distance between each obstacle in each sensor detection area and the vehicle, wherein the plurality of sensors are sensors which are pre-installed on the vehicle and are used for detecting the obstacles around the vehicle;
Determining the shortest distance between the obstacle in each sensor detection area and the vehicle according to the distance between the obstacle in each sensor detection area and the vehicle;
performing grading alarm according to the shortest distance between the obstacle in each sensor detection area and the vehicle speed;
the step alarming according to the shortest distance between the obstacle and the vehicle in each sensor detection area and the vehicle speed comprises the following steps:
determining whether the speed of the vehicle is less than a preset speed;
when the speed of the vehicle is smaller than the preset speed, determining the alarm level of the corresponding area according to the shortest distance between the obstacle in each sensor detection area and the vehicle;
performing hierarchical alarm of the corresponding area according to the alarm level;
each sensor detection area comprises a rear side sensor detection area, a front side sensor detection area, a head sensor detection area and a tail sensor detection area;
and determining the alarm levels according to the relation between the shortest distance between the obstacle in each sensor detection area and the vehicle and the preset distance corresponding to different alarm levels in each sensor detection area, wherein the preset distances corresponding to the same alarm level in different sensor detection areas are different.
2. A reversing alarm method according to claim 1, wherein said step of performing said hierarchical alarm according to said alarm level comprises:
performing interface display alarm according to the alarm level of the corresponding area, wherein the interface color of the interface display alarm changes along with the change of the alarm level;
and carrying out sound alarm according to the alarm level of the corresponding area, wherein the sound frequency of the sound alarm changes along with the change of the alarm level.
3. The reverse alarm method according to claim 2, wherein after the audible alarm according to the alarm level, further comprising:
determining a target distance according to the shortest distance between the obstacle in each sensor detection area and the vehicle, wherein the target distance is the shortest distance between each obstacle in all sensor detection areas and the vehicle;
and when the target distance is greater than a preset mute distance or the vehicle is stationary and longer than a preset duration, the sound grading alarm is turned off.
4. A reversing alarm method according to claim 3, wherein after determining the target distance according to the shortest distance between the obstacle and the vehicle in the detection area of each sensor, the reversing alarm method further comprises:
And when the target distance is smaller than a preset emergency braking distance, controlling the vehicle to perform emergency braking.
5. A reversing alarm method according to any one of claims 1 to 4, wherein the multi-path sensor is a 12-path sensor, the 12-path sensor including:
the front 6-way sensor comprises 4 headstock sensors and 2 front side sensors, wherein the 4 headstock sensors comprise headstock left angle sensors, headstock right angle sensors and 2 front side sensors, and the 2 front side sensors comprise left front side sensors and right front side sensors;
the rear 6-way sensor comprises 4 rear sensors and 2 rear side sensors, wherein the 4 rear sensors comprise a rear left corner sensor, a rear right corner sensor and 2 front rear sensors, and the 2 rear side sensors comprise a left rear side sensor and a right rear side sensor.
6. The reverse warning method according to claim 5, wherein the activating the multiple sensors according to the traveling direction to obtain distances between the respective obstacles in the detection area of the respective sensors and the vehicle includes:
when the running direction is forward running, starting the front 6-path sensor to acquire the distance between each obstacle in the detection area of the front 6-path sensor and the vehicle;
And when the running direction is backward running, starting the 12 paths of sensors to acquire the distance between each obstacle in the 12 paths of sensor detection areas and the vehicle.
7. The reverse warning method according to claim 6, wherein the determining the warning level based on the shortest distance between the obstacle in the detection area of each sensor and the vehicle includes:
determining the alarm level as a first level when the shortest distance between the obstacle in the 2 rear side sensor detection areas and the vehicle is smaller than a first preset distance, or the shortest distance between the obstacle in the 2 front side sensor detection areas and the vehicle is smaller than a second preset distance, or the shortest distance between the obstacle in the 4 head sensor detection areas and the vehicle is smaller than a third preset distance, or the shortest distance between the obstacle in the 4 tail sensor detection areas and the vehicle is smaller than the third preset distance;
and determining the alarm grade as a second grade when the shortest distance between the obstacle in the 2 rear side sensor detection areas and the vehicle is smaller than a fourth preset distance, or the shortest distance between the obstacle in the 2 front side sensor detection areas and the vehicle is smaller than a fifth preset distance, or the shortest distance between the obstacle in the 4 head sensor detection areas and the vehicle is smaller than a sixth preset distance, or the shortest distance between the obstacle in the 4 tail sensor detection areas and the vehicle is smaller than the sixth preset distance.
8. A reversing alarm device, comprising:
the first acquisition module is used for acquiring the running direction and the speed of the vehicle when receiving a reversing signal of the vehicle;
the second acquisition module is used for starting a plurality of sensors according to the running direction to acquire the distance between each obstacle in each sensor detection area and the vehicle, wherein the plurality of sensors are sensors which are pre-installed on the vehicle and are used for detecting the obstacles around the vehicle;
the determining module is used for correspondingly determining the shortest distance between the obstacle in each path of sensor detection area and the vehicle according to the distance between each obstacle in each path of sensor detection area and the vehicle;
the alarm module is used for carrying out graded alarm according to the shortest distance between the obstacle in the detection area of each sensor and the vehicle speed;
the step alarming according to the shortest distance between the obstacle and the vehicle in each sensor detection area and the vehicle speed comprises the following steps:
determining whether the speed of the vehicle is less than a preset speed;
when the speed of the vehicle is smaller than the preset speed, determining the alarm level of the corresponding area according to the shortest distance between the obstacle in each sensor detection area and the vehicle;
Performing hierarchical alarm of the corresponding area according to the alarm level;
each sensor detection area comprises a rear side sensor detection area, a front side sensor detection area, a head sensor detection area and a tail sensor detection area;
and determining the alarm levels according to the relation between the shortest distance between the obstacle in each sensor detection area and the vehicle and the preset distance corresponding to different alarm levels in each sensor detection area, wherein the preset distances corresponding to the same alarm level in different sensor detection areas are different.
9. A reversing alarm device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, carries out the steps of the reversing alarm method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010279916.0A CN113511136B (en) | 2020-04-10 | 2020-04-10 | Reversing alarm method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010279916.0A CN113511136B (en) | 2020-04-10 | 2020-04-10 | Reversing alarm method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113511136A CN113511136A (en) | 2021-10-19 |
| CN113511136B true CN113511136B (en) | 2024-04-12 |
Family
ID=78061078
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010279916.0A Active CN113511136B (en) | 2020-04-10 | 2020-04-10 | Reversing alarm method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113511136B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1059120A (en) * | 1996-06-11 | 1998-03-03 | Toyota Motor Corp | Obstruction detecting device and occupant protective device using device thereof |
| DE19843367A1 (en) * | 1998-09-22 | 2000-03-30 | Daimler Chrysler Ag | Shunting aid system, esp. for parking vehicles, outputs distance warning signal if set of trigger conditions is fulfilled, including that distance to obstruction is less than defined minimum |
| CN104955714A (en) * | 2013-01-28 | 2015-09-30 | 捷豹路虎有限公司 | Motor vehicle system and method |
| CN106314440A (en) * | 2015-07-07 | 2017-01-11 | 大陆汽车电子(芜湖)有限公司 | Vehicle distance display method |
| CN206719085U (en) * | 2017-04-26 | 2017-12-08 | 深圳智联车网科技有限公司 | Radar parking assist apparatus based on former car alarm indication |
| WO2018023385A1 (en) * | 2016-08-02 | 2018-02-08 | 张阳 | Vecicle lane-change alarm method and alarm system |
| CN207510403U (en) * | 2017-03-28 | 2018-06-19 | 兰州工业学院 | A kind of automatic braking device for vehicle |
| CN108515934A (en) * | 2018-05-10 | 2018-09-11 | 芜湖航飞科技股份有限公司 | A kind of vehicle anti-collision early warning method and system based on more radars |
| CN208239611U (en) * | 2018-06-12 | 2018-12-14 | 广州汽车集团股份有限公司 | Ultrasonic sensor test bracket and ultrasonic sensor test device |
| CN109849783A (en) * | 2019-01-14 | 2019-06-07 | 南京航空航天大学 | A kind of complemental brake system and control method of active anti-reverse collision |
| CN110316055A (en) * | 2018-03-29 | 2019-10-11 | 丰田自动车株式会社 | Rear monitoring device |
| CN210101616U (en) * | 2019-06-19 | 2020-02-21 | 新石器慧通（北京）科技有限公司 | Anti-collision system and vehicle |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060287829A1 (en) * | 2005-06-15 | 2006-12-21 | Dimitri Pashko-Paschenko | Object proximity warning system |
| JP6623602B2 (en) * | 2015-07-31 | 2019-12-25 | アイシン精機株式会社 | Parking assistance device |
-
2020
- 2020-04-10 CN CN202010279916.0A patent/CN113511136B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1059120A (en) * | 1996-06-11 | 1998-03-03 | Toyota Motor Corp | Obstruction detecting device and occupant protective device using device thereof |
| DE19843367A1 (en) * | 1998-09-22 | 2000-03-30 | Daimler Chrysler Ag | Shunting aid system, esp. for parking vehicles, outputs distance warning signal if set of trigger conditions is fulfilled, including that distance to obstruction is less than defined minimum |
| CN104955714A (en) * | 2013-01-28 | 2015-09-30 | 捷豹路虎有限公司 | Motor vehicle system and method |
| CN106314440A (en) * | 2015-07-07 | 2017-01-11 | 大陆汽车电子(芜湖)有限公司 | Vehicle distance display method |
| WO2018023385A1 (en) * | 2016-08-02 | 2018-02-08 | 张阳 | Vecicle lane-change alarm method and alarm system |
| CN207510403U (en) * | 2017-03-28 | 2018-06-19 | 兰州工业学院 | A kind of automatic braking device for vehicle |
| CN206719085U (en) * | 2017-04-26 | 2017-12-08 | 深圳智联车网科技有限公司 | Radar parking assist apparatus based on former car alarm indication |
| CN110316055A (en) * | 2018-03-29 | 2019-10-11 | 丰田自动车株式会社 | Rear monitoring device |
| CN108515934A (en) * | 2018-05-10 | 2018-09-11 | 芜湖航飞科技股份有限公司 | A kind of vehicle anti-collision early warning method and system based on more radars |
| CN208239611U (en) * | 2018-06-12 | 2018-12-14 | 广州汽车集团股份有限公司 | Ultrasonic sensor test bracket and ultrasonic sensor test device |
| CN109849783A (en) * | 2019-01-14 | 2019-06-07 | 南京航空航天大学 | A kind of complemental brake system and control method of active anti-reverse collision |
| CN210101616U (en) * | 2019-06-19 | 2020-02-21 | 新石器慧通（北京）科技有限公司 | Anti-collision system and vehicle |
Non-Patent Citations (1)
| Title |
|---|
| 电气系统的感应报警装置设计与应用;姜兵等;《自动化应用》;20190525(第05期);第87-88页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113511136A (en) | 2021-10-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR101815599B1 (en) | Parking assistance device using tpms | |
| US9296422B2 (en) | Trailer angle detection target plausibility | |
| US9493117B2 (en) | Vehicle blind spot system operation with trailer tow | |
| US9099004B2 (en) | Object differentiation warning system | |
| US9358984B2 (en) | Driver intention estimation arrangement | |
| US7786896B2 (en) | Parking assistance system and parking assistance method | |
| WO2019044185A1 (en) | Video output device, video generation program, and non-transitory tangible computer-readable medium | |
| JP4811343B2 (en) | Object detection device | |
| US9953532B2 (en) | Obstacle warning apparatus | |
| US9224297B2 (en) | Park assist object distance measurement clock control | |
| AU2019382367A1 (en) | Method and device for measuring trailer included angle, and vehicle | |
| JP2006240453A (en) | Sensor failure detector and detection method of sensor failure | |
| RU2015143161A (en) | REDUCTION OF FALSE RADAR WARNINGS | |
| CN110178141A (en) | Method for manipulating autonomous motor vehicles | |
| CN106796284B (en) | Side distance measuring sensor diagnostic device | |
| CA2988971A1 (en) | On-board terminal device and vehicle collision prevention method | |
| US10197672B2 (en) | Moving object detection apparatus and drive support apparatus | |
| CN113734048B (en) | Reversing early warning method and device | |
| JP2007038911A (en) | Alarm device for vehicle | |
| CN113511136B (en) | Reversing alarm method and device | |
| US11685311B2 (en) | System and method for warning a driver of a vehicle of an object in a proximity of the vehicle | |
| US9168926B2 (en) | Driving concentration level calculating apparatus and method, and system and method for warning of vehicle collision using the same | |
| US9293047B2 (en) | Methods and system for monitoring vehicle movement for use in evaluating possible intersection of paths between vehicle | |
| EP3270764B1 (en) | Situational awareness monitoring method and apparatus | |
| CN114047517A (en) | Obstacle detection method, storage medium, and electronic device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |