CN116279435B - Novel parking auxiliary system - Google Patents
Novel parking auxiliary system Download PDFInfo
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- CN116279435B CN116279435B CN202310552403.6A CN202310552403A CN116279435B CN 116279435 B CN116279435 B CN 116279435B CN 202310552403 A CN202310552403 A CN 202310552403A CN 116279435 B CN116279435 B CN 116279435B
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/54—Audio sensitive means, e.g. ultrasound
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
Abstract
The invention discloses a novel parking auxiliary system, which belongs to the technical field of vehicle-mounted electronics and comprises an ECU (electronic control unit) module, a video acquisition module, an indicator light module, a key module, an ultrasonic radar module A, an ultrasonic radar module B, an ultrasonic radar module C and an ultrasonic radar module D, so that the technical problem that parking is realized by acquiring and analyzing gestures of people outside a vehicle and simultaneously parking is realized by driving instructions in a mobile phone APP is solved.
Description
Technical Field
The invention belongs to the technical field of vehicle-mounted electronics, and particularly relates to a novel parking auxiliary system.
Background
Automobiles are becoming more popular and the frequency of use of automobiles is becoming higher. The parking problem is a main problem of vehicles of novice drivers, and the novice drivers cannot well control the vehicles to move into the parking spaces. Under certain complicated conditions, for example, when the side parking space is smaller, the old driver cannot stop well. At present, the existing automatic parking system or ADAS system in the market, namely an automatic driving auxiliary system, is very dependent on clear and definite parking space contour lines, and in the actual vehicle using process, the parking space contour lines are not needed in many cases.
Disclosure of Invention
The invention aims to provide a novel parking auxiliary system, which solves the technical problem that parking is realized by collecting and analyzing gestures of personnel outside a vehicle, and meanwhile, parking is realized by driving instructions in a mobile phone APP.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the novel parking auxiliary system comprises an ECU module, a video acquisition module, an indicator light module, a key module, an ultrasonic radar module A, an ultrasonic radar module B, an ultrasonic radar module C and an ultrasonic radar module D, wherein the video acquisition module, the indicator light module, the key module, the ultrasonic radar module A, the ultrasonic radar module B, the ultrasonic radar module C and the ultrasonic radar module D are electrically connected with the ECU module;
the ECU module is also connected with a vehicle-mounted ADAS system through a CAN bus;
the key module is used for providing two keys, one key is used for starting or stopping the gesture auxiliary parking function, and the other key is used for starting or stopping the mobile phone auxiliary parking function;
when the vehicle-mounted ADAS system is in the mobile phone auxiliary parking function, the ECU module communicates with the mobile phone through the WiFi wireless communication network, acquires a driving instruction sent by the mobile phone in real time, and feeds the driving instruction back to the vehicle-mounted ADAS system through the CAN bus;
when the vehicle is in a gesture auxiliary parking function, the ECU module communicates with the video acquisition module through the CAN bus, the video acquisition module is used for acquiring gestures of personnel outside the vehicle, judging a driving instruction according to a preset gesture class table through analyzing gesture types, and sending the driving instruction to the ECU module through the CAN bus, and the ECU module forwards the driving instruction to the vehicle-mounted ADAS system;
the ultrasonic radar module A, the ultrasonic radar module B, the ultrasonic radar module C and the ultrasonic radar module D are respectively arranged at a left front lamp, a right front lamp, a left back lamp and a right back lamp of the automobile body and are respectively used for measuring the distance of obstacles in front of the automobile and behind the automobile;
the ECU module is used for controlling the ultrasonic radar module A, the ultrasonic radar module B, the ultrasonic radar module C and the ultrasonic radar module D to perform ranging, and judging the distance between the vehicle and the obstacle according to the distance data transmitted by the ultrasonic radar module A, the ultrasonic radar module B, the ultrasonic radar module C and the ultrasonic radar module D;
the indicating lamp module comprises a plurality of indicating lamps, and the ECU module displays the distance between the vehicle and the obstacle by controlling the indicating lamps in the indicating lamp module;
the ECU module, the video acquisition module, the pilot lamp module, the button module, the ultrasonic radar module A, the ultrasonic radar module B, the ultrasonic radar module C and the ultrasonic radar module D are powered by the vehicle-mounted battery.
Preferably, the ECU module includes a main controller, a first CAN bus transceiver, a second CAN bus transceiver, an isolation circuit, a multi-way switch, a level shifter, a power supply unit, a WiFi module, an indicator light control interface a, an indicator light control interface B, an indicator light control interface C, and an indicator light control interface D;
the power supply unit comprises a DC-DC module, a 3.3V voltage stabilizer and a 5V voltage stabilizer, wherein the input end of the DC-DC module is powered by a vehicle-mounted battery, the output end of the DC-DC module outputs a V+ power supply, the input end of the 5V voltage stabilizer is connected with the V+ power supply, the output end of the 5V voltage stabilizer outputs a VCC power supply, and the input end of the 3.3V voltage stabilizer is connected with the VCC power supply and the output end of the 3.3 power supply;
the 3.3 power supply is used for providing 3.3V power for the main controller, the WiFi module, the first CAN bus transceiver and the second CAN bus transceiver; the VCC power supply provides a 5V power supply for supplying power to the level converter and the multi-way switch;
the serial port communication end of the level converter is connected with one serial port of the main controller through a serial port bus, one group of IO ports of the main controller are connected with the isolation circuit, and the isolation circuit is connected with the switch control end of the multi-way switch;
the switch output end of the multi-way switch is connected with the LIN bus input end of the level shifter, and the switch input end of the multi-way switch provides 4 interfaces, namely an interface LD_SING1, an interface LD_SING2, an interface LD_SING3 and an interface LD_SING4;
the main controller provides a group of control interfaces through a group of IO ports, namely an interface CFSING1, an interface CFSING2, an interface CFSING3 and an interface CFSING4;
the main controller provides a key interface hand and a key interface app through two IO ports respectively;
the main controller communicates with the vehicle-mounted ADAS system through a first CAN bus transceiver, and a second CAN bus transceiver provides a CAN2 interface;
the main controller is respectively connected with the indicator lamp control interface A, the indicator lamp control interface B, the indicator lamp control interface C and the indicator lamp control interface D through a group of IO ports;
the model of the main controller is MIMURRT 1021CAG4A, the models of the first CAN bus transceiver and the second CAN bus transceiver are TJA1044, the model of the level converter is TJA1021 type master-slave protocol controller, the model of the WiFi module is mt7610e, the model of the multi-way switch is CD4066, the isolation circuit is an optocoupler isolation circuit, the model of the DC-DC module is XW-0840-12-24W type DC-DC power supply, the model of the 3.3V voltage stabilizer is LM1117-3.3, and the model of the 5V voltage stabilizer is LM7805.
Preferably, the video acquisition module comprises a PMIC module, a first camera group, a second camera group, a first image processor, a second image processor and an SD card module, wherein the first camera group is electrically connected with the first image processor, the second camera group is electrically connected with the second image processor, the second image processor is communicated with the first image processor through a serial port, the SD card module is connected with the first image processor, and the PMIC module supplies power for the first camera group, the second camera group, the first image processor, the second image processor and the SD card module;
the PMIC module comprises a PM chip and a peripheral circuit thereof, the model of the PM chip is PM8916, the models of the first image processor and the second image processor are FS32V234CMN1VUB, the first camera group and the second camera group comprise two cameras, and the models of the cameras are IMX214 cameras; the first image processor communicates with the second CAN bus transceiver through a CAN bus.
Preferably, the ultrasonic radar module a includes an ultrasonic driver, an adjusting transformer and an ultrasonic sensor, wherein a LIN end of the ultrasonic driver is a signal output end of the ultrasonic radar module a, the signal output end of the ultrasonic radar module a is connected with an interface ld_sing1, the ultrasonic driver is connected with a signal output end RX end of the ultrasonic sensor, a trigger end TX of the ultrasonic sensor is a trigger end of the ultrasonic radar module a, the trigger end of the ultrasonic radar module a is connected with an interface CFSING1, and the adjusting transformer is connected with the ultrasonic driver and the ultrasonic sensor respectively;
the model of the ultrasonic driver is NCV75215, and the model of the ultrasonic sensor is DYP-A19-V1.0;
the circuit principles of the ultrasonic radar module B, the ultrasonic radar module C and the ultrasonic radar module D are the same as those of the ultrasonic radar module A;
the signal output end of the ultrasonic radar module B, the signal output end of the ultrasonic radar module C and the signal output end of the ultrasonic radar module D are respectively connected with an interface LD_SING2, an interface LD_SING3 and an interface LD_SING4;
the trigger end of the ultrasonic radar module B, the trigger end of the ultrasonic radar module C and the trigger end of the ultrasonic radar module D are respectively connected with the interface CFSING2, the interface CFSING3 and the interface CFSING 4.
Preferably, the indicator light module comprises an LED light string group, an LED driving unit and an indicator light control interface group, wherein the LED light string group comprises 4 groups of LED light strings, each group of LED light strings comprises 10 RGB light strings and a control interface, and each RGB light string comprises a group of red light string LEDR light strings, a group of green light string LEDG light strings and a group of blue light string LEDB light strings;
the LED driving unit comprises 4 groups of lamp strip driving units, the 4 groups of lamp strip driving units are respectively responsible for driving the 4 groups of LED lamp strips, the lamp strip driving unit comprises 10 color mixing driving units, each color mixing driving unit is responsible for driving one RGB lamp group, the color mixing driving unit comprises a light modulation driver and a constant current driver group, the constant current driver group comprises 3 constant current driving chips, and the 3 constant current driving chips respectively drive a red lamp group LEDR lamp group, a green lamp group LEDG lamp group and a blue lamp group LEDB lamp group in the same RGB lamp group; the 3 constant current driving chips are connected with the dimming driver;
in the same group of LED lamp strips, the dimming driver is connected in a hand-in-hand manner and then connected with the control interface;
the indicator light control interface A, the indicator light control interface B, the indicator light control interface C and the indicator light control interface D are respectively connected with the control interfaces of the 4 groups of LED lamp strips;
the model of the constant current driving chip is DD311, and the model of the dimming driver is DM413.
Preferably, the LED lamp strip group comprises a first lamp strip, a second lamp strip, a third lamp strip and a fourth lamp strip, the first lamp strip comprises an interface JA, 10 RGB lamp groups, 10 constant current driver groups and 10 dimming drivers, wherein the 10 RGB lamp groups comprise RGB lamp groups A1 to RGB lamp groups a10, the 10 constant current driver groups comprise constant current driver groups A1 to constant current driver groups a10, the 10 dimming drivers comprise dimming drivers A1 to dimming drivers a10, the constant current driver groups A1 drive the RGB lamp groups A1, the constant current driver groups A1 are connected with the dimming drivers A1, the constant current driver groups A1 and the dimming drivers A1 form a color adjusting driving unit, and the like, and the color adjusting driving unit is responsible for driving one RGB lamp group;
the dimming drivers A1 to A10 are in data communication in a hand-held mode and are connected with an interface JA which is connected with an indicator lamp control interface A;
the constant current driver groups A1 comprise 3 constant current driving chips which are respectively used for driving a red light group LEDR1 light group, a green light group LEDG1 light group and a blue light group LEDB1 light group in the RGB light group A1;
the circuit principle of the second lamp strip, the third lamp strip and the fourth lamp strip is the same as that of the first lamp strip, and an interface JB in the second lamp strip, an interface JC in the third lamp strip and an interface JD in the fourth lamp strip are respectively connected with an indicator lamp control interface B, an indicator lamp control interface C and an indicator lamp control interface D;
the dimming drivers A1 to a10 are respectively provided with a latch end STB, and the STB ends of the dimming drivers A1 to a10 are connected together and isolated by an optocoupler IC24, and then connected to an IO port of the main controller through an interface JA.
Preferably, the main controller provides two key interfaces through 2 IO ports, the two key interfaces are a key interface hand and a key interface app respectively, two keys in the key module are connected with the key interface hand and the key interface app respectively, the key interface hand is used for detecting whether a key signal for starting or closing the gesture auxiliary parking function is received, and the key interface app is used for detecting whether a key signal for starting or closing the mobile phone auxiliary parking function is received.
The novel parking auxiliary system solves the technical problem that parking is realized by collecting and analyzing gestures of personnel outside a vehicle, and meanwhile, parking is realized by driving instructions in a mobile phone APP; the video acquisition module adopts independent design, 4 cameras are connected in groups from a hardware structure, the generated data CAN be processed in groups, the number of processing threads in software of a single processor is reduced, the processing speed is greatly improved, the software design is simplified, the video acquisition module is modularized and CAN be replaced at any time, the video acquisition module is convenient to maintain, a master-slave architecture is formed by two processors on the circuit design, the data of the 4 cameras CAN be stored through one SD card, the element cost is saved, the power supply matching between the ultrasonic radar and the main controller is realized through the level converter, the isolation between the two power supply systems is improved, the serial port signals of the ultrasonic radar are firstly converted into CAN signals, then the signal selection between the ultrasonic radars is realized through one multi-way switch, then the CAN signals are converted into serial port signals through the level converter and are connected to one serial port of the main controller, the serial port resource on the main controller CAN be saved, the data isolation between the ultrasonic radars CAN not be formed through the multi-way switch, and the data crosstalk is more stable.
Drawings
FIG. 1 is a block diagram of the general schematic of the present invention;
FIG. 2 is a schematic block diagram of an ECU module of the present invention;
FIG. 3 is a schematic block diagram of a video acquisition module of the present invention;
fig. 4 is a schematic block diagram of an ultrasonic radar module a, an ultrasonic radar module B, an ultrasonic radar module C, and an ultrasonic radar module D of the present invention;
FIG. 5 is a schematic block diagram of an indicator light module of the present invention;
FIG. 6 is a schematic block diagram of a first, second, third and fourth light strip of the present invention;
FIG. 7 is a schematic block diagram of a power supply unit of the present invention;
fig. 8 is a schematic diagram of an ultrasonic radar module a of the present invention;
FIG. 9 is a schematic diagram of a multiway switch of the present invention;
fig. 10 is a circuit diagram of the first two RGB lamp sets in the first lamp strip of the invention.
Detailed Description
The novel parking auxiliary system shown in the figures 1-10 comprises an ECU module, a video acquisition module, an indicator light module, a key module, an ultrasonic radar module A, an ultrasonic radar module B, an ultrasonic radar module C and an ultrasonic radar module D, wherein the video acquisition module, the indicator light module, the key module, the ultrasonic radar module A, the ultrasonic radar module B, the ultrasonic radar module C and the ultrasonic radar module D are all electrically connected with the ECU module;
the ECU module is also connected with a vehicle-mounted ADAS system through a CAN bus;
the ECU module comprises a main controller, a first CAN bus transceiver, a second CAN bus transceiver, an isolation circuit, a multi-way switch, a level shifter, a power supply unit, a WiFi module, an indicator light control interface A, an indicator light control interface B, an indicator light control interface C and an indicator light control interface D;
the power supply unit comprises a DC-DC module, a 3.3V voltage stabilizer and a 5V voltage stabilizer, wherein the input end of the DC-DC module is powered by a vehicle-mounted battery, the output end of the DC-DC module outputs a V+ power supply, the input end of the 5V voltage stabilizer is connected with the V+ power supply, the output end of the 5V voltage stabilizer outputs a VCC power supply, and the input end of the 3.3V voltage stabilizer is connected with the VCC power supply and the output end of the 3.3 power supply;
the 3.3 power supply is used for providing 3.3V power for the main controller, the WiFi module, the first CAN bus transceiver and the second CAN bus transceiver; the VCC power supply provides a 5V power supply for supplying power to the level converter and the multi-way switch;
the serial port communication end of the level converter is connected with one serial port of the main controller through a serial port bus, one group of IO ports of the main controller are connected with the isolation circuit, and the isolation circuit is connected with the switch control end of the multi-way switch;
the switch output end of the multi-way switch is connected with the LIN bus input end of the level shifter, and the switch input end of the multi-way switch provides 4 interfaces, namely an interface LD_SING1, an interface LD_SING2, an interface LD_SING3 and an interface LD_SING4;
the main controller provides a group of control interfaces through a group of IO ports, namely an interface CFSING1, an interface CFSING2, an interface CFSING3 and an interface CFSING4;
the main controller provides a key interface hand and a key interface app through two IO ports respectively;
the main controller provides two key interfaces through 2 IO ports, the two key interfaces are a key interface hand and a key interface app respectively, two keys in the key module are connected with the key interface hand and the key interface app respectively, the key interface hand is used for detecting whether a key signal for starting or closing a gesture auxiliary parking function is received, and the key interface app is used for detecting whether a key signal for starting or closing a mobile phone auxiliary parking function is received.
The main controller communicates with the vehicle-mounted ADAS system through a first CAN bus transceiver, and a second CAN bus transceiver provides a CAN2 interface;
the main controller is respectively connected with the indicator lamp control interface A, the indicator lamp control interface B, the indicator lamp control interface C and the indicator lamp control interface D through a group of IO ports;
the model of the main controller is MIMURRT 1021CAG4A, the models of the first CAN bus transceiver and the second CAN bus transceiver are TJA1044, the model of the level converter is TJA1021 type master-slave protocol controller, the model of the WiFi module is mt7610e, the model of the multi-way switch is CD4066, the isolation circuit is an optocoupler isolation circuit, the model of the DC-DC module is XW-0840-12-24W type DC-DC power supply, the model of the 3.3V voltage stabilizer is LM1117-3.3, and the model of the 5V voltage stabilizer is LM7805.
The key module is used for providing two keys, one key is used for starting or stopping the gesture auxiliary parking function, and the other key is used for starting or stopping the mobile phone auxiliary parking function;
when the vehicle-mounted ADAS system is in the mobile phone auxiliary parking function, the ECU module communicates with the mobile phone through the WiFi wireless communication network, acquires a driving instruction sent by the mobile phone in real time, and feeds the driving instruction back to the vehicle-mounted ADAS system through the CAN bus;
in this embodiment, when the mobile phone terminal enters the mobile phone auxiliary parking function, the mobile phone terminal realizes data communication with the main controller through the WiFi network, and then the user sends driving instructions such as forward, backward, steering wheel left steering, steering wheel right steering, braking and the like through the operation interface of the mobile phone terminal, the driving instructions are sent to the main controller through the WiFi network, and the main controller sends the driving instructions to the ADAS system through the CAN bus to execute actions corresponding to the driving instructions.
When the vehicle is in a gesture auxiliary parking function, the ECU module communicates with the video acquisition module through the CAN bus, the video acquisition module is used for acquiring gestures of personnel outside the vehicle, judging a driving instruction according to a preset gesture class table through analyzing gesture types, and sending the driving instruction to the ECU module through the CAN bus, and the ECU module forwards the driving instruction to the vehicle-mounted ADAS system;
the video acquisition module comprises a PMIC module, a first camera group, a second camera group, a first image processor, a second image processor and an SD card module, wherein the first camera group is electrically connected with the first image processor, the second camera group is electrically connected with the second image processor, the second image processor is communicated with the first image processor through a serial port, the SD card module is connected with the first image processor, and the PMIC module is used for supplying power to the first camera group, the second camera group, the first image processor, the second image processor and the SD card module;
the PMIC module comprises a PM chip and a peripheral circuit thereof, the model of the PM chip is PM8916, the models of the first image processor and the second image processor are FS32V234CMN1VUB, the first camera group and the second camera group comprise two cameras, and the models of the cameras are IMX214 cameras; the first image processor communicates with the second CAN bus transceiver through a CAN bus.
The invention designs the video acquisition module independently, so that video data can be processed independently, and the main controller can only take charge of functions of ultrasonic radar, ADAS system, light control and wireless communication, thereby not only reducing the number of processing threads of the main controller on software design and improving the speed, but also realizing modularization of the video acquisition module, being capable of being replaced at any time and convenient for maintenance.
The invention adopts the first image processor and the second image processor to form a master-slave architecture, namely the first image processor is the master, the second image processor is the slave, and the first image processor and the second image processor are respectively responsible for the number of the two cameras, so that the data processing capacity of a single image processor is reduced, the processing speed is accelerated, the first image processor can only send one processing result to the master controller, the image processing work is totally limited in the video acquisition module, the burden of the master controller is greatly reduced, little data interaction is needed between the video acquisition module and the master controller, and the speed of data transmission is accelerated.
The invention can record the data of 4 cameras by only adopting one SD card, and the SD card is only connected to the first image processor, thereby reducing the circuit cost.
The video acquisition module judges the gesture type by identifying the gesture action of the person in the video, and obtains the corresponding driving instruction in a table look-up mode after judging the gesture type, in this embodiment, the corresponding relationship between the gesture type and the driving instruction is shown in the following table 1:
TABLE 1
In the embodiment, two image processors are adopted to collect and analyze image data, each image processor is responsible for cameras of two MIPI CSI2 interfaces, and the 4 cameras are deployed at the positions of the head, the tail, the left front door and the right front door of the vehicle to collect video data of the front, the rear, the left front door and the right front door of the vehicle in 4 directions respectively, so that gesture images of personnel outside the vehicle can be collected without dead angles.
In this embodiment, the identification of the characters and actions in the image is the prior art, and can be implemented according to the software development kit matched with the FS32V234CMN1VUB, so that the details will not be described.
The ultrasonic radar module A, the ultrasonic radar module B, the ultrasonic radar module C and the ultrasonic radar module D are respectively arranged at a left front lamp, a right front lamp, a left back lamp and a right back lamp of the automobile body and are respectively used for measuring the distance of obstacles in front of the automobile and behind the automobile;
the ECU module is used for controlling the ultrasonic radar module A, the ultrasonic radar module B, the ultrasonic radar module C and the ultrasonic radar module D to perform ranging, and judging the distance between the vehicle and the obstacle according to the distance data transmitted by the ultrasonic radar module A, the ultrasonic radar module B, the ultrasonic radar module C and the ultrasonic radar module D;
the ultrasonic radar module A comprises an ultrasonic driver, an adjusting transformer and an ultrasonic sensor, wherein the LIN end of the ultrasonic driver is a signal output end of the ultrasonic radar module A, the signal output end of the ultrasonic radar module A is connected with an interface LD_SING1, the ultrasonic driver is connected with a signal output end RX end of the ultrasonic sensor, a trigger end TX of the ultrasonic sensor is a trigger end of the ultrasonic radar module A, the trigger end of the ultrasonic radar module A is connected with an interface CFSING1, and the adjusting transformer is respectively connected with the ultrasonic driver and the ultrasonic sensor;
the model of the ultrasonic driver is NCV75215, and the model of the ultrasonic sensor is DYP-A19-V1.0;
in the embodiment, DYP-A19-V1.0 is an ultrasonic transducer, and an output interface is a serial port, and the ultrasonic transducer adopts an ultrasonic driver with the model of NCV75215 to convert the serial port output by the ultrasonic transducer into a CAN bus, and selects and isolates multipath data through a multipath switch, so that data crosstalk among multipath ultrasonic transducers is avoided.
The main controller controls the selection of the multi-way switch through the isolation circuit formed by the optocoupler IC9 and the optocoupler IC12, so that the conversion and the matching of different power supply systems between the multi-way switch and the main controller are solved, a certain isolation effect is achieved, and the IO port of the main controller is protected.
The circuit principles of the ultrasonic radar module B, the ultrasonic radar module C and the ultrasonic radar module D are the same as those of the ultrasonic radar module A;
the signal output end of the ultrasonic radar module B, the signal output end of the ultrasonic radar module C and the signal output end of the ultrasonic radar module D are respectively connected with an interface LD_SING2, an interface LD_SING3 and an interface LD_SING4;
the trigger end of the ultrasonic radar module B, the trigger end of the ultrasonic radar module C and the trigger end of the ultrasonic radar module D are respectively connected with the interface CFSING2, the interface CFSING3 and the interface CFSING 4.
In this embodiment, taking the ultrasonic radar module a as an example, the ultrasonic driver is the driver U10, the adjusting transformer is the transformer T1, the ultrasonic sensor is a 4-wire ultrasonic sensor, which is shown as the sensor interface IC1 in fig. 8, the sensor interface IC1 includes a TX trigger end, an RX signal output end, a GND ground end and a VCC power end, the VCC power end is connected to the VCC power supply, the GND end is connected to the ground, the TX trigger end is connected to the interface CFSING1 through the optocoupler IC2, the main controller controls the on or off of the ultrasonic sensor through the interface CFSING1, the ranging data obtained by the ultrasonic sensor is transmitted to the RXN end of the driver U10 through the RX signal output end, the transformer T1 is a peripheral circuit of the driver U10, which is used to adjust signals between the RXN end and the RXP end, the driver U10 is powered by a power supply, the capacitor C5, the diode D1 and the capacitor C6 form a rectifying and filtering circuit of the power end of the driver U10, the IO end of the driver U10 is a LIN bus signal output end, and the driver U10 is connected to the vcc_g1.
The interface ld_sing1 is connected to a switch input end of the multi-way switch IC20, namely an a-IN/OUT end, and similarly, the interface ld_sing2, the interface ld_sing3, which are correspondingly connected to the ultrasonic radar module B, and the interface ld_sing4, which are correspondingly connected to the ultrasonic radar module D, are respectively connected to the B-IN/OUT end, the C-IN/OUT end, and the D-IN/OUT end of the multi-way switch IC20, 4 IO ports of the main controller respectively output signals S1-a, signals S1-B, signals S1-C, and signals S1-a, signals S1-B, and signals S1-D respectively through the opto-coupler IC9, the opto-coupler IC10, the opto-coupler IC11, and the 4 control ends, namely CONTROLA, CONTROLB, CONTROLC and the ROLD, of the multi-way switch IC20, respectively, and the 4-way switch output end of the multi-way switch, namely the a-OUT/OUT end, the signals a-IN/C, the signals S1-C, and the signals S1-D, are respectively, the signals S1-a-C, and the signals S1-D are respectively output to 4 control ends of the multi-way switch IC20 after being isolated, namely CONTROLA, CONTROLB, CONTROLC and the opto-switch IC12, the 4-way switch output ends, namely the signals a-OUT output from the main controller, the signal switch terminal, the signal terminal is directly connected to the data converter terminal has a data input between the two input ends of the power supply terminal and the power supply terminal, and the data converter terminal is connected to the data converter terminal, and the data converter is directly connected between the two input to the data terminal and the data converter. TJA1021 is an interface between a Local Internet (LIN) master-slave protocol controller and a physical bus in the LIN, and can well convert LIN data into serial data for processing.
The indicating lamp module comprises a plurality of indicating lamps, and the ECU module displays the distance between the vehicle and the obstacle by controlling the indicating lamps in the indicating lamp module;
the indicator light module comprises LED lamp groups, LED driving units and indicator light control interface groups, wherein the LED lamp groups comprise 4 groups of LED lamp groups, each group of LED lamp groups comprises 10 RGB lamp groups and one control interface, and each RGB lamp group comprises a group of red lamp group LEDR lamp groups, a group of green lamp group LEDG lamp groups and a group of blue lamp group LEDB lamp groups;
in this embodiment, 4 LED lamp area of group are disposed respectively in left headlight department, right headlight department, left back lamp department and left back lamp department of automobile body, and convenient observation.
The LED driving unit comprises 4 groups of lamp strip driving units, the 4 groups of lamp strip driving units are respectively responsible for driving the 4 groups of LED lamp strips, the lamp strip driving unit comprises 10 color mixing driving units, each color mixing driving unit is responsible for driving one RGB lamp group, the color mixing driving unit comprises a light modulation driver and a constant current driver group, the constant current driver group comprises 3 constant current driving chips, and the 3 constant current driving chips respectively drive a red lamp group LEDR lamp group, a green lamp group LEDG lamp group and a blue lamp group LEDB lamp group in the same RGB lamp group; the 3 constant current driving chips are connected with the dimming driver;
in the same group of LED lamp strips, the dimming driver is connected in a hand-in-hand manner and then connected with the control interface;
the indicator light control interface A, the indicator light control interface B, the indicator light control interface C and the indicator light control interface D are respectively connected with the control interfaces of the 4 groups of LED lamp strips;
the model of the constant current driving chip is DD311, and the model of the dimming driver is DM413.
The LED lamp strip group comprises a first lamp strip, a second lamp strip, a third lamp strip and a fourth lamp strip, wherein the first lamp strip comprises an interface JA, 10 RGB lamp groups, 10 constant current driver groups and 10 dimming drivers, the 10 RGB lamp groups comprise RGB lamp groups A1 to RGB lamp groups A10, the 10 constant current driver groups comprise constant current driver groups A1 to constant current driver groups A10, the 10 dimming drivers comprise dimming drivers A1 to dimming drivers A10, the constant current driver groups A1 drive the RGB lamp groups A1, the constant current driver groups A1 are connected with the dimming drivers A1, the constant current driver groups A1 and the dimming drivers A1 form a color adjusting driving unit, and the color adjusting driving unit is responsible for driving one RGB lamp group by analogy;
the dimming drivers A1 to A10 are in data communication in a hand-held mode and are connected with an interface JA which is connected with an indicator lamp control interface A;
the constant current driver groups A1 comprise 3 constant current driving chips which are respectively used for driving a red light group LEDR1 light group, a green light group LEDG1 light group and a blue light group LEDB1 light group in the RGB light group A1;
the circuit principle of the second lamp strip, the third lamp strip and the fourth lamp strip is the same as that of the first lamp strip, and an interface JB in the second lamp strip, an interface JC in the third lamp strip and an interface JD in the fourth lamp strip are respectively connected with an indicator lamp control interface B, an indicator lamp control interface C and an indicator lamp control interface D;
the dimming drivers A1 to a10 are respectively provided with a latch end STB, and the STB ends of the dimming drivers A1 to a10 are connected together and isolated by an optocoupler IC24, and then connected to an IO port of the main controller through an interface JA.
In the embodiment, the color-changing LED lamp, namely the RGB lamp set is used as the indicator lamp, the main controller can change the color of the RGB lamp set according to the distance after measuring the distance between the obstacle on one side and the vehicle body through ultrasonic waves, namely different distances are represented by different colors, the distance between the vehicle and the obstacle is displayed more intuitively, and when the distance between the vehicle and the obstacle is greater than 1 meter, the two ends of the LED lamp bar are green; when the distance is less than 1 meter, the two ends of the LED can turn yellow; when the distance is less than 20cm, the two ends of the LED become orange; when the distance is less than 10cm, both ends of the LED turn red.
In this embodiment, taking the first two RGB lamp sets in the first lamp band as an example, that is, the RGB lamp sets A1 and A2, as shown in the drawing, the driver IC21, the driver IC3, the driver IC4 and the driver IC5 form a driving and color-mixing driving unit for driving the RGB lamp set A1, the driver IC3, the driver IC4 and the driver IC5 are DD311, the driver IC21 is DM413, the RGB lamp set A1 includes a red lamp set of the led r1, a green lamp set of the led g1 and a blue lamp set of the led b1, the driver IC3, the driver IC4 and the driver IC5 drive the red lamp set of the led r1, the green lamp set of the led g1 and the blue lamp set of the led b1 respectively, the driver IC21 controls the driver IC3, the driver IC4 and the driver IC5 through the 5 pin, and similarly, the driver IC22 controls the driver IC6, the driver IC7 and the driver IC8 through the 5 pin, the driver IC7 and the driver IC7, and the driver IC8 drive the red lamp set of the led r2 and the blue lamp set of the led r2 respectively.
The pins 1 and 2 of the driver IC21 are connected to the pins 15 and 14 of the driver IC22 in a hand-held manner, the pins 1 and 2 of the driver IC22 are also connected to the next driver corresponding to the RGB lamp set A3 in a hand-held manner, i.e. the pins 15 and 16 of the driver IC21 are connected and communicate with the 2 IO ports of the interface JA host controller, in this embodiment, in practical application, the pins 15 and 16 of the driver IC21 are further separately isolated by two optocouplers and then connected to the 2 IO ports (not shown in fig. 10) of the host controller, the pin 13 of the driver IC21 (i.e. STB end, circuit network number STB1 in fig. 10) and the pin 13 of the driver IC22 (i.e. STB end, circuit network number STB1 in fig. 10) are separately connected together and are connected to the output port of the optocoupler IC24 (interface STB1 in fig. 10), and the input port of the optocoupler IC24 is controlled by one IO port of the host controller through the interface JA.
The ECU module, the video acquisition module, the pilot lamp module, the button module, the ultrasonic radar module A, the ultrasonic radar module B, the ultrasonic radar module C and the ultrasonic radar module D are powered by the vehicle-mounted battery.
The novel parking auxiliary system solves the technical problem that parking is achieved through collecting and analyzing gestures of personnel outside a vehicle, and meanwhile parking is achieved through driving instructions in a mobile phone APP.
Claims (7)
1. A novel parking assist system, characterized in that: the intelligent electronic control unit comprises an ECU module, a video acquisition module, an indicator light module, a key module, an ultrasonic radar module A, an ultrasonic radar module B, an ultrasonic radar module C and an ultrasonic radar module D, wherein the video acquisition module, the indicator light module, the key module, the ultrasonic radar module A, the ultrasonic radar module B, the ultrasonic radar module C and the ultrasonic radar module D are electrically connected with the ECU module;
the ECU module is also connected with a vehicle-mounted ADAS system through a CAN bus;
the key module is used for providing two keys, one key is used for starting or stopping the gesture auxiliary parking function, and the other key is used for starting or stopping the mobile phone auxiliary parking function;
when the vehicle-mounted ADAS system is in the mobile phone auxiliary parking function, the ECU module communicates with the mobile phone through the WiFi wireless communication network, acquires a driving instruction sent by the mobile phone in real time, and feeds the driving instruction back to the vehicle-mounted ADAS system through the CAN bus;
when the vehicle is in a gesture auxiliary parking function, the ECU module communicates with the video acquisition module through the CAN bus, the video acquisition module is used for acquiring gestures of personnel outside the vehicle, judging a driving instruction according to a preset gesture class table through analyzing gesture types, and sending the driving instruction to the ECU module through the CAN bus, and the ECU module forwards the driving instruction to the vehicle-mounted ADAS system;
the ultrasonic radar module A, the ultrasonic radar module B, the ultrasonic radar module C and the ultrasonic radar module D are respectively arranged at a left front lamp, a right front lamp, a left back lamp and a right back lamp of the automobile body and are respectively used for measuring the distance of obstacles in front of the automobile and behind the automobile;
the ECU module is used for controlling the ultrasonic radar module A, the ultrasonic radar module B, the ultrasonic radar module C and the ultrasonic radar module D to perform ranging, and judging the distance between the vehicle and the obstacle according to the distance data transmitted by the ultrasonic radar module A, the ultrasonic radar module B, the ultrasonic radar module C and the ultrasonic radar module D;
the indicating lamp module comprises a plurality of indicating lamps, and the ECU module displays the distance between the vehicle and the obstacle by controlling the indicating lamps in the indicating lamp module;
the ECU module, the video acquisition module, the indicator light module, the key module, the ultrasonic radar module A, the ultrasonic radar module B, the ultrasonic radar module C and the ultrasonic radar module D are powered by the vehicle-mounted battery;
the ECU module comprises a main controller, a first CAN bus transceiver, a second CAN bus transceiver, an isolation circuit, a multi-way switch, a level shifter, a power supply unit, a WiFi module, an indicator light control interface A, an indicator light control interface B, an indicator light control interface C and an indicator light control interface D;
the power supply unit comprises a DC-DC module, a 3.3V voltage stabilizer and a 5V voltage stabilizer, wherein the input end of the DC-DC module is powered by a vehicle-mounted battery, the output end of the DC-DC module outputs a V+ power supply, the input end of the 5V voltage stabilizer is connected with the V+ power supply, the output end of the 5V voltage stabilizer outputs a VCC power supply, and the input end of the 3.3V voltage stabilizer is connected with the VCC power supply and the output end of the 3.3 power supply;
the 3.3 power supply is used for providing 3.3V power for the main controller, the WiFi module, the first CAN bus transceiver and the second CAN bus transceiver; the VCC power supply provides a 5V power supply for supplying power to the level converter and the multi-way switch;
the serial port communication end of the level converter is connected with one serial port of the main controller through a serial port bus, one group of IO ports of the main controller are connected with the isolation circuit, and the isolation circuit is connected with the switch control end of the multi-way switch;
the switch output end of the multi-way switch is connected with the LIN bus input end of the level shifter, and the switch input end of the multi-way switch provides 4 interfaces, namely an interface LD_SING1, an interface LD_SING2, an interface LD_SING3 and an interface LD_SING4;
the main controller provides a group of control interfaces through a group of IO ports, namely an interface CFSING1, an interface CFSING2, an interface CFSING3 and an interface CFSING4;
the main controller provides a key interface hand and a key interface app through two IO ports respectively;
the main controller communicates with the vehicle-mounted ADAS system through a first CAN bus transceiver, and a second CAN bus transceiver provides a CAN2 interface;
the main controller is respectively connected with the indicator lamp control interface A, the indicator lamp control interface B, the indicator lamp control interface C and the indicator lamp control interface D through a group of IO ports;
the video acquisition module comprises a PMIC module, a first camera group, a second camera group, a first image processor, a second image processor and an SD card module, wherein the first camera group is electrically connected with the first image processor, the second camera group is electrically connected with the second image processor, the second image processor is communicated with the first image processor through a serial port, the SD card module is connected with the first image processor, and the PMIC module is powered by the first camera group, the second camera group, the first image processor, the second image processor and the SD card module, and the PMIC module is powered by the V+ power supply.
2. A novel park assist system according to claim 1, wherein: the model of the main controller is MIMURRT 1021CAG4A, the models of the first CAN bus transceiver and the second CAN bus transceiver are TJA1044, the model of the level converter is TJA1021 type master-slave protocol controller, the model of the WiFi module is mt7610e, the model of the multi-way switch is CD4066, the isolation circuit is an optocoupler isolation circuit, the model of the DC-DC module is XW-0840-12-24W type DC-DC power supply, the model of the 3.3V voltage stabilizer is LM1117-3.3, and the model of the 5V voltage stabilizer is LM7805.
3. A novel park assist system according to claim 2, wherein: the PMIC module comprises a PM chip and a peripheral circuit thereof, the model of the PM chip is PM8916, the models of the first image processor and the second image processor are FS32V234CMN1VUB, the first camera group and the second camera group comprise two cameras, and the models of the cameras are IMX214 cameras; the first image processor communicates with the second CAN bus transceiver through a CAN bus.
4. A novel park assist system according to claim 2, wherein: the ultrasonic radar module A comprises an ultrasonic driver, an adjusting transformer and an ultrasonic sensor, wherein the LIN end of the ultrasonic driver is a signal output end of the ultrasonic radar module A, the signal output end of the ultrasonic radar module A is connected with an interface LD_SING1, the ultrasonic driver is connected with a signal output end RX end of the ultrasonic sensor, a trigger end TX of the ultrasonic sensor is a trigger end of the ultrasonic radar module A, the trigger end of the ultrasonic radar module A is connected with an interface CFSING1, and the adjusting transformer is respectively connected with the ultrasonic driver and the ultrasonic sensor;
the model of the ultrasonic driver is NCV75215, and the model of the ultrasonic sensor is DYP-A19-V1.0;
the circuit principles of the ultrasonic radar module B, the ultrasonic radar module C and the ultrasonic radar module D are the same as those of the ultrasonic radar module A;
the signal output end of the ultrasonic radar module B, the signal output end of the ultrasonic radar module C and the signal output end of the ultrasonic radar module D are respectively connected with an interface LD_SING2, an interface LD_SING3 and an interface LD_SING4;
the trigger end of the ultrasonic radar module B, the trigger end of the ultrasonic radar module C and the trigger end of the ultrasonic radar module D are respectively connected with the interface CFSING2, the interface CFSING3 and the interface CFSING 4.
5. A novel park assist system according to claim 2, wherein: the indicator light module comprises LED lamp groups, LED driving units and indicator light control interface groups, wherein the LED lamp groups comprise 4 groups of LED lamp groups, each group of LED lamp groups comprises 10 RGB lamp groups and one control interface, and each RGB lamp group comprises a group of red lamp group LEDR lamp groups, a group of green lamp group LEDG lamp groups and a group of blue lamp group LEDB lamp groups;
the LED driving unit comprises 4 groups of lamp strip driving units, the 4 groups of lamp strip driving units are respectively responsible for driving the 4 groups of LED lamp strips, the lamp strip driving unit comprises 10 color mixing driving units, each color mixing driving unit is responsible for driving one RGB lamp group, the color mixing driving unit comprises a light modulation driver and a constant current driver group, the constant current driver group comprises 3 constant current driving chips, and the 3 constant current driving chips respectively drive a red lamp group LEDR lamp group, a green lamp group LEDG lamp group and a blue lamp group LEDB lamp group in the same RGB lamp group; the 3 constant current driving chips are connected with the dimming driver;
in the same group of LED lamp strips, the dimming driver is connected in a hand-in-hand manner and then connected with the control interface;
the indicator light control interface A, the indicator light control interface B, the indicator light control interface C and the indicator light control interface D are respectively connected with the control interfaces of the 4 groups of LED lamp strips;
the model of the constant current driving chip is DD311, and the model of the dimming driver is DM413.
6. A novel park assist system according to claim 5, wherein: the LED lamp strip group comprises a first lamp strip, a second lamp strip, a third lamp strip and a fourth lamp strip, wherein the first lamp strip comprises an interface JA, 10 RGB lamp groups, 10 constant current driver groups and 10 dimming drivers, the 10 RGB lamp groups comprise RGB lamp groups A1 to RGB lamp groups A10, the 10 constant current driver groups comprise constant current driver groups A1 to constant current driver groups A10, the 10 dimming drivers comprise dimming drivers A1 to dimming drivers A10, the constant current driver groups A1 drive the RGB lamp groups A1, the constant current driver groups A1 are connected with the dimming drivers A1, the constant current driver groups A1 and the dimming drivers A1 form a color adjusting driving unit, and the color adjusting driving unit is responsible for driving one RGB lamp group by analogy;
the dimming drivers A1 to A10 are in data communication in a hand-held mode and are connected with an interface JA which is connected with an indicator lamp control interface A;
the constant current driver groups A1 comprise 3 constant current driving chips which are respectively used for driving a red light group LEDR1 light group, a green light group LEDG1 light group and a blue light group LEDB1 light group in the RGB light group A1;
the circuit principle of the second lamp strip, the third lamp strip and the fourth lamp strip is the same as that of the first lamp strip, and an interface JB in the second lamp strip, an interface JC in the third lamp strip and an interface JD in the fourth lamp strip are respectively connected with an indicator lamp control interface B, an indicator lamp control interface C and an indicator lamp control interface D;
the dimming drivers A1 to a10 are respectively provided with a latch end STB, and the STB ends of the dimming drivers A1 to a10 are connected together and isolated by an optocoupler IC24, and then connected to an IO port of the main controller through an interface JA.
7. A novel park assist system according to claim 2, wherein: the main controller provides two key interfaces through 2 IO ports, the two key interfaces are a key interface hand and a key interface app respectively, two keys in the key module are connected with the key interface hand and the key interface app respectively, the key interface hand is used for detecting whether a key signal for starting or closing a gesture auxiliary parking function is received, and the key interface app is used for detecting whether a key signal for starting or closing a mobile phone auxiliary parking function is received.
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