CN115158161A - Vehicle driving safety early warning system based on harmonic radar detects pedestrian - Google Patents
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- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
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Abstract
The invention discloses a vehicle driving safety early warning system for detecting pedestrians based on a harmonic radar, and relates to the technical field of safe driving; the system comprises a harmonic radar transmitting module group, a harmonic radar receiving module group, a central control processing module and a voice alarm module, wherein the central control processing module is used for controlling the harmonic radar transmitting module group, processing data obtained by the harmonic radar receiving module group, and the voice alarm module works according to the processing result of the central control processing module; through the nonlinear node on the electronic equipment that harmonic radar detected the pedestrian and carried on one's body, central control processing module handles harmonic radar detection data, judges whether have the pedestrian around and with the distance between the pedestrian to pass through voice alarm module according to pedestrian's distance and provide the warning for vehicle driver, do not receive factors influences such as environment, illumination, solve the tradition and based on laser radar, the problem that the barrier sheltered from the pedestrian can't be surveyed to vehicle driving safety early warning system of camera.
Description
Technical Field
The invention relates to the technical field of safe driving, in particular to a vehicle driving safety early warning system for detecting pedestrians based on a harmonic radar.
Background
Along with the rapid development of economy in China, the quantity of automobile reserves in China is rapidly increased, the incidence rate of traffic accidents is also kept for a long time due to the increase of the quantity of automobile reserves, and a great part of reasons are that drivers cannot respond in time and cannot brake in time because pedestrians which cannot be observed due to insufficient vision of the drivers or road barriers are suddenly run out, so that the traffic accidents are caused. If the driver can predict that pedestrians possibly exist in the position in advance, the speed of the vehicle is reduced in advance, braking preparation is made, the possibility of traffic accidents is greatly reduced, and driving safety is guaranteed. However, in the laser radar which is widely applied in the field of automobile safe driving, the millimeter wave radar cannot detect the existence of pedestrians at the position under the condition that obstacles are shielded, and effective early warning cannot be given.
Along with the popularization of mobile payment, people can not leave mobile phones more and more, and people can not go a little today without mobile phones and carry the mobile phones all the time. The mobile phone as mobile communication equipment has a large number of nonlinear nodes such as metal junctions and PN junctions inside. Harmonic radar is a radar detector that is specifically used to detect nonlinear nodes.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a vehicle driving safety early warning system for detecting pedestrians based on a harmonic radar, which solves the problem that a driver has a view blind area or cannot observe the pedestrians due to the shielding of road obstacles, so that the driver can early warn in advance, and traffic accidents are avoided.
In order to achieve the technical purpose and achieve the technical effect, the invention is realized by the following technical scheme:
the vehicle driving safety early warning system based on the harmonic radar detection pedestrian comprises a harmonic radar transmitting module group, a harmonic radar receiving module group, a central control processing module and a voice alarm module, wherein the harmonic radar transmitting module group is controlled, the central control processing module is used for processing data obtained by the harmonic radar receiving module group, and the voice alarm module works according to the processing result of the central control processing module.
Further, the harmonic radar transmitting module group comprises a first harmonic radar transmitting module, a second harmonic radar transmitting module, a third harmonic radar transmitting module and a fourth harmonic radar transmitting module; the first harmonic radar transmitting module and the second harmonic radar transmitting module are respectively arranged on the lower sides of left and right headlights in front of the carried vehicle, and the third harmonic radar transmitting module and the fourth harmonic radar transmitting module are respectively arranged on the lower sides of left and right taillights behind the carried vehicle;
the harmonic radar receiving module group comprises a first harmonic radar receiving module, a second harmonic radar receiving module, a third harmonic radar receiving module and a fourth harmonic radar receiving module;
the first harmonic radar receiving module is arranged at the lower side of the first harmonic radar transmitting module; the second harmonic radar receiving module is arranged on the lower side of the second harmonic radar transmitting module; the third harmonic radar receiving module is arranged on the lower side of the third harmonic radar transmitting module; and the fourth harmonic radar receiving module is arranged on the lower side of the fourth harmonic radar transmitting module.
Furthermore, the installation positions of the harmonic radar transmitting module groups are on the same horizontal plane, and an included angle between the first harmonic radar transmitting module and the second harmonic radar transmitting module is less than 180 degrees;
the installation positions of the harmonic radar module receiving groups are located on the same horizontal plane, and the included angle between the first harmonic radar receiving module and the second harmonic radar receiving module is smaller than 180 degrees.
Furthermore, the central control processing module is installed in the center console, and the central control processing module controls the harmonic radar transmitting module group to be opened and closed according to the running state of the vehicle.
A vehicle driving safety early warning calculation system based on harmonic radar detects pedestrian:
s1: the harmonic radar transmitting module group transmits an L wave band with a wavelength of lambda to the periphery of the vehicle according to the instruction of the central control processing module 1 Frequency of f 1 The first fundamental wave of (1);
s2: the harmonic radar receiving module group receives the first fundamental wave transmitted by the harmonic radar transmitting module group, and the wavelength generated by the electronic equipment on the surrounding pedestrians is lambda 2 Frequency of f 2 A first harmonic of (a);
harmonic radar receiving module converts frequency f 2 The first harmonic data is transmitted to a central control processing module;
s3: the central control processing module receives the frequency f 2 When the first harmonic data is received, the transmitting frequency of the harmonic radar transmitting module is controlled to be f 1 A second fundamental wave of + Δ f;
s4: the central control processing module carries out frequency multiplication processing on the second fundamental wave and records a frequency multiplication second fundamental wave phase value at the transmitting moment
S5: the harmonic radar receiving module group receives 2 (f) generated by the electronic equipment on the surrounding pedestrians of the second fundamental wave transmitted by the harmonic radar transmitting module group 1 A second harmonic of + Δ f);
the harmonic radar receiving module converts the frequency to 2 (f) 1 The second harmonic data of the + delta f) is transmitted to the central control processing module;
s6: the central control processing module records that the received frequency is 2 (f) 1 Phase value of the second harmonic of + Δ f)
S7: the distance D of the current pedestrian is obtained by calculating the data, and the calculation formula of the distance D is as follows:
wherein: c is the speed of light;
f 1 is the fundamental frequency;
Δ f is the random signal disturbance frequency;
s8: the central control processing module calculates the pedestrian distance D according to the received radar data and then controls the voice alarm module in the vehicle to perform early warning, so that traffic accidents are avoided, and driving safety is guaranteed.
Further, the wavelength λ of the first harmonic 2 At a first fundamental wavelength λ 1 A relation of λ 1 ＝2λ 2 Frequency f of the first harmonic 2 At a first fundamental frequency f 1 Two times of (2 f) in relation to each other 1 ＝f 2 。
Further, Δ f is a random signal perturbation frequency.
Furthermore, the voice alarm module is installed inside the cab.
Further, the central control processing module controls the voice alarm module to perform early warning at different levels according to different distance results:
(1) When D is more than 10m, no alarm is given;
(2) When D is more than 6m and less than or equal to 10m, controlling the in-vehicle voice alarm module to send out a primary alarm;
(3) When D is more than 3m and less than or equal to 6m, controlling the in-vehicle voice alarm module to send out a secondary alarm;
(4) When D is less than or equal to 3m, controlling the in-vehicle voice alarm module to send out a three-level alarm;
the alarm voice increases in frequency and volume as the alarm level increases. After the driver makes a judgment according to different early warnings, the driver makes a response in advance, so that traffic accidents are avoided, and driving safety is guaranteed.
Furthermore, the first harmonic is a second harmonic generated after the first fundamental wave passes through electronic equipment on a passenger, and the second harmonic is a second harmonic generated after the second fundamental wave passes through the electronic equipment on the passenger.
The invention has the beneficial effects that:
the invention provides a vehicle driving safety early warning system for detecting pedestrians based on a harmonic radar, which detects nonlinear nodes on electronic equipment carried by pedestrians through the harmonic radar, a central control processing module processes detection data of the harmonic radar, judges whether pedestrians exist around and the distance between the pedestrians, provides warning for a vehicle driver through a voice alarm module according to the distance of the pedestrians, is not influenced by factors such as environment, illumination and the like, and solves the problem that a traditional vehicle driving safety early warning system based on a laser radar and a camera cannot detect obstacles to shield the pedestrians.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is an exemplary schematic view of a vehicle driving on a road with the harmonic radar-based pedestrian detection vehicle driving safety early warning system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an installation of a partial harmonic radar transmitting module and a partial harmonic radar receiving module according to an embodiment of the present invention;
fig. 3 is a flowchart of the operation of the vehicle driving safety warning system for detecting pedestrians based on the harmonic radar according to the embodiment of the present invention.
The system comprises a vehicle, a 2A-first harmonic radar transmitting module, a 2B-second harmonic radar transmitting module, a 2C-third harmonic radar transmitting module, a 2D-fourth harmonic radar transmitting module, a 3A-first harmonic radar receiving module, a 3B-second harmonic radar receiving module, a 3C-third harmonic radar receiving module, a 3D-fourth harmonic radar receiving module, a 4-pedestrian, a 5-electronic communication device and a 6-obstacle.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in figures 1-3
Example 1
The vehicle driving safety early warning system based on the harmonic radar for detecting the pedestrians comprises a harmonic radar transmitting module group, a harmonic radar receiving module group, a central control processing module and a voice alarm module. The vehicle driving safety early warning system based on the harmonic radar detects the pedestrians judges whether the pedestrians (4) exist or not by detecting the electronic equipment carried by the pedestrians (4). Non-linear targets such as metal junctions or PN junctions exist in all electronic devices such as cell phones, smart watches, and usb disks. Through using the nonlinear targets such as metal junction or PN junction in the electronic communication equipment (5) that harmonic radar carried to the human body to survey, detect behind secondary, the third harmonic signal of electronic equipment radiation, judge that there is pedestrian (4) that carry electronic equipment in this department, through calculating safe distance, carry out the early warning of different ranks according to the speech system of installation in the judgement result through the car, the driver makes reasonable judgement according to the early warning of different ranks to avoid traffic accident's emergence, guarantee driving safety.
Please refer to fig. 1-2, the harmonic radar transmitting module set includes a first harmonic radar transmitting module (2A), a second harmonic radar transmitting module (2B), a third harmonic radar transmitting module (2C) and a fourth harmonic radar transmitting module (2D), the first harmonic radar transmitting module (2A) and the second harmonic radar transmitting module (2B) are respectively disposed at the lower sides of left and right headlights at the front of the carried vehicle (1), and the third harmonic radar transmitting module (2C) and the fourth harmonic radar transmitting module (2D) are respectively disposed at the lower sides of left and right taillights at the rear of the carried vehicle (1);
the harmonic radar transmitting module groups are arranged on the same horizontal plane, and the included angle between the first harmonic radar transmitting module (2A) and the second harmonic radar transmitting module (2B) is less than 180 degrees;
any harmonic radar transmitting module of the harmonic radar transmitting module group consists of a transmitting circuit and a transmitting antenna. Transmitting L wave band with wavelength of lambda to the periphery under the instruction of the central control processing module 1 Frequency of f 1 The first fundamental wave of (1);
the harmonic radar receiving module group comprises a first harmonic radar receiving module (3A), a second harmonic radar receiving module (3B), a third harmonic radar receiving module (3C) and a fourth harmonic radar receiving module (3D), the first harmonic radar receiving module (3A) is installed on the lower side of the first harmonic radar transmitting module (2A), the second harmonic radar receiving module (3B) is installed on the lower side of the second harmonic radar transmitting module (2B), the third harmonic radar receiving module (3C) is installed on the lower side of the third harmonic radar transmitting module (2C), and the fourth harmonic radar receiving module (3D) is installed on the lower side of the fourth harmonic radar transmitting module (2D);
and any harmonic radar receiving module of the harmonic radar receiving module group consists of a receiving circuit and a receiving antenna. Receiving the signals transmitted by the harmonic radar transmitting module group around the vehicle bodyThe first fundamental wave of the radiation is generated by the electronic equipment on the body of the pedestrian (4) with the wavelength lambda 2 Frequency of f 2 A second harmonic of (a);
wherein the wavelength λ of the second harmonic 2 At a first fundamental wavelength λ 1 A relation of λ 1 ＝2λ 2 Frequency f of the second harmonic 2 At a first fundamental frequency f 1 Two times of (2 f) in relation to each other 1 ＝f 2 ；
And the central control processing module controls the harmonic radar transmitting module group to be opened and closed according to the running state of the vehicle (1). The vehicle (1) runs forwards, the central control processing module starts the first harmonic radar transmitting module (2A) and the second harmonic radar transmitting module (2B), and the frequency sent by the second harmonic radar transmitting module (2B) is the frequency f 1 The fundamental wave of (2) is transmitted to an electronic communication device (5) carried by a pedestrian (4) which is shielded and can not be observed by an obstacle (6), and the frequency of the radiation received by the electronic communication device (5) is the frequency f 2 Is received by a second harmonic radar receiving module (3B), the second harmonic radar receiving module (3B) transmitting a frequency f 2 The first harmonic data is transmitted to the central control processing module. The central control processing module receives the frequency f 2 When the first harmonic data is received, the transmitting frequency of the second harmonic radar transmitting module (2B) is controlled to be f 1 And the central control processing module performs frequency multiplication on the second fundamental wave and records a frequency multiplication fundamental wave phase value at the transmitting moment
Frequency f 1 The second fundamental wave of + delta f generates 2 (f) after passing through the electronic equipment on the body of the pedestrian (4) 1 A second harmonic of + Δ f), said frequency being 2 (f) 1 The second harmonic of + Δ f) is propagated and then received by the second harmonic radar receiving module (3B), and the second harmonic radar receiving module (3B) transmits a signal having a frequency of 2 (f) 1 + Δ f) second harmonic data is passed to the central control processing module. The central control processing module records that the received frequency is 2 (f) 1 + Δ f) toPhase value of the second harmonic
The distance D of the current pedestrian (4) is obtained by calculating the data, and the distance D is calculated according to the following formula:
wherein: c is the speed of light;
f 1 is the fundamental frequency;
Δ f is the random signal disturbance frequency;
The central control processing module calculates the distance D between the pedestrian (4) and the vehicle (1) according to the received radar data and then controls the voice alarm module in the vehicle to give early warning, so that traffic accidents are avoided, and driving safety is guaranteed.
Example 2
The central control processing module controls the voice alarm module to perform early warning at different levels according to different distance results:
(1) When D is more than 10m, no alarm is given;
(2) When D is more than 6m and less than or equal to 10m, controlling the in-vehicle voice alarm module to send out a primary alarm; (ii) a
(3) When D is more than 3m and less than or equal to 6m, controlling the in-vehicle voice alarm module to send out a secondary alarm;
(4) And when D is less than or equal to 3m, controlling the in-vehicle voice alarm module to send out a three-level alarm.
The alarm voice improves the frequency and the volume along with the improvement of the alarm level, and a driver makes a response in advance after making a judgment according to different early warnings, so that traffic accidents are avoided, and the driving safety is guaranteed.
The foregoing is only a partial embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Claims (8)
1. The utility model provides a vehicle driving safety early warning system based on harmonic radar detects pedestrian which characterized in that: the harmonic radar alarm system comprises a harmonic radar transmitting module group, a harmonic radar receiving module group, a central control processing module and a voice alarm module, wherein the harmonic radar transmitting module group is controlled, the central control processing module is used for processing data obtained by the harmonic radar receiving module group, and the voice alarm module works according to the processing result of the central control processing module.
2. The harmonic radar-based pedestrian vehicle driving safety warning system of claim 1, wherein: the harmonic radar transmitting module group comprises a first harmonic radar transmitting module, a second harmonic radar transmitting module, a third harmonic radar transmitting module and a fourth harmonic radar transmitting module; the first harmonic radar transmitting module and the second harmonic radar transmitting module are respectively arranged on the lower sides of left and right headlights in front of the carried vehicle, and the third harmonic radar transmitting module and the fourth harmonic radar transmitting module are respectively arranged on the lower sides of left and right taillights behind the carried vehicle;
the harmonic radar receiving module group comprises a first harmonic radar receiving module, a second harmonic radar receiving module, a third harmonic radar receiving module and a fourth harmonic radar receiving module;
the first harmonic radar receiving module is arranged at the lower side of the first harmonic radar transmitting module; the second harmonic radar receiving module is arranged on the lower side of the second harmonic radar transmitting module; the third harmonic radar receiving module is arranged on the lower side of the third harmonic radar transmitting module; and the fourth harmonic radar receiving module is arranged on the lower side of the fourth harmonic radar transmitting module.
3. The harmonic radar-based pedestrian vehicle driving safety warning system of claim 2, wherein: the harmonic radar transmitting module groups are arranged on the same horizontal plane, and the included angle between the first harmonic radar transmitting module and the second harmonic radar transmitting module is less than 180 degrees;
the installation positions of the harmonic radar module receiving groups are located on the same horizontal plane, and the included angle between the first harmonic radar receiving module and the second harmonic radar receiving module is smaller than 180 degrees.
4. The harmonic radar-based pedestrian vehicle driving safety warning system of claim 1, wherein: the central control processing module is arranged in the center console and controls the harmonic radar transmitting module group to be opened and closed according to the running state of the vehicle.
5. The invention relates to a vehicle driving safety early warning and calculating system based on harmonic radar detection of pedestrians, which is characterized in that:
s1: the harmonic radar transmitting module group transmits an L wave band with a wavelength of lambda to the periphery of the vehicle according to the instruction of the central control processing module 1 Frequency of f 1 The first fundamental wave of (1);
s2: the harmonic radar receiving module group receives the first fundamental wave transmitted by the harmonic radar transmitting module group, and the wavelength generated by the electronic equipment on the surrounding pedestrians is lambda 2 Frequency of f 2 A first harmonic of (a);
harmonic radar receiving module converts frequency f 2 The first harmonic data is transmitted to a central control processing module;
s3: the central control processing module receives the frequency f 2 When the first harmonic data is received, controlling the transmitting frequency of the harmonic radar transmitting module to be f 1 A second fundamental wave of + Δ f;
s4: the central control processing module carries out frequency multiplication processing on the second fundamental wave and records a frequency multiplication second fundamental wave phase value at the transmitting moment
S5: the harmonic radar receiving module group receives 2 (f) generated by the electronic equipment on the surrounding pedestrians of the second fundamental wave transmitted by the harmonic radar transmitting module group 1 A second harmonic of + Δ f);
the harmonic radar receiving module converts the frequency to 2 (f) 1 The second harmonic data of + delta f) is transmitted to the central control processing module;
s6: the central control processing module records that the received frequency is 2 (f) 1 Phase value of the second harmonic of + Δ f)
S7: the distance D of the current pedestrian is obtained by calculating the data, and the calculation formula of the distance D is as follows:
s8: the central control processing module calculates the pedestrian distance D according to the received radar data and then controls the voice alarm module in the vehicle to perform early warning, so that traffic accidents are avoided, and driving safety is guaranteed.
6. The harmonic radar-based pedestrian vehicle driving safety warning computing system of claim 5, wherein: where Δ f is the random signal perturbation frequency.
7. The harmonic radar-based pedestrian vehicle driving safety warning computing system of claim 5, wherein: the voice alarm module is installed inside the cab.
8. The harmonic radar-based vehicle traffic safety warning calculation system for detecting pedestrians of claim 5 wherein: the central control processing module controls the voice alarm module to perform early warning at different levels according to different distance results:
(1) When D is more than 10m, no alarm is given;
(2) When D is more than 6m and less than or equal to 10m, controlling the in-vehicle voice alarm module to send out a primary alarm;
(3) When D is more than 3m and less than or equal to 6m, controlling the in-vehicle voice alarm module to send out a secondary alarm;
(4) When D is less than or equal to 3m, controlling the in-vehicle voice alarm module to send out a three-level alarm;
the voice alarm module increases the frequency and the volume along with the increase of the alarm level.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116923288A (en) * | 2023-06-26 | 2023-10-24 | 桂林电子科技大学 | Intelligent detection system and method for driving ghost probe |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116923288A (en) * | 2023-06-26 | 2023-10-24 | 桂林电子科技大学 | Intelligent detection system and method for driving ghost probe |
| CN116923288B (en) * | 2023-06-26 | 2024-04-12 | 桂林电子科技大学 | Intelligent detection system and method for driving ghost probe |
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