CN101216561A - Automatic backing parking radar - Google Patents
Automatic backing parking radar Download PDFInfo
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- CN101216561A CN101216561A CNA2008100001102A CN200810000110A CN101216561A CN 101216561 A CN101216561 A CN 101216561A CN A2008100001102 A CNA2008100001102 A CN A2008100001102A CN 200810000110 A CN200810000110 A CN 200810000110A CN 101216561 A CN101216561 A CN 101216561A
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Abstract
The invention belongs to an auxiliary device for assisting in a backing and parking vehicle, in particular to an automatic backing and parking radar. The automatic backing and parking radar comprises ultrasonic sensors arranged on the vehicle tail or on both sides of the vehicle body or on the vehicle head, a microprocessor module, an acousto or optical or image alarm module, a steering state information data interface and a shift state information data interface, wherein the ultrasonic sensors, the acousto or optical alarm module, the steering state information data interface and the microprocessor module are connected with each other; and the microprocessor module real-timely adjusts the level of acousto or optical alarm signals correspondingly triggered by signal of each ultrasonic sensor according to the steering state information read from the steering state data interface and the shift state information read from the shift state information data interface. The invention can maximally obviate false alarm of parking radar while steering and parking a vehicle and can also help drivers reasonably adjust the steering state to an optimal running trajectory in time.
Description
Technical field
The invention belongs to the backing automobile parking assist apparatus, more specifically saying so relates to a kind of automatic backing parking radar system.
Background technology
The development that improves constantly and drive ancillary technique along with scientific and technological level, method at the tailstock or vehicle body both sides installation radar probe detection barrier has been widely used universal, be called radar for backing car or parking radar (below be referred to as radar for backing car), the probe of radar has ultrasonic probe that optic probe is also arranged, generally with the distance of the intensity reflects probe distance barrier of output signal; Probe signal intensity reflected finally informs the driver with audible ringing signal or optics alerting signal or image alarm signal apart from the far and near state of barrier.Existing reverse radar system is provided with fixing corresponding alerting signal intensity rank to the radar probe signal intensity of the tailstock mostly.
Yet, most of drivers have certain steering angle steering vehicle curve that travels in the reversing or the Shi Douhui that parks, that is to say that the tailstock is also turning in the motion backward, existing radar for backing car is owing to the radar probe signal intensity to the tailstock is provided with fixing corresponding alerting signal intensity rank, so in that many times the barrier on tailstock movement locus all can be owing in the dead astern of the tailstock and false alarm, can't provide correct barrier positional information to the driver, also influence reversing safety to a great extent.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, a kind of corresponding sound or other automatic backing parking radar system of visual alarm level that triggers of signal that can adjust each radar probe according to the Vehicular turn status information in real time proposed, utilize the present invention to propose the automatic backing parking radar system and can provide the accurate reference information whether barrier is arranged on the route that reversing is travelled under the various steering states for the driver, the driver also can adjust steering state according to alerting signal and reach best reverse travel route.
The operation of the automatic backing parking radar system that the present invention proposes mainly comprises the steps;
The first step: before the tailstock or vehicle body or car, be provided with the radar probe is installed, installation sound or light alarm module are set in car, be provided with the steering state identification module that is connected with steering box in the car is installed, be provided with the range state identification module that is connected with car internal speed-changing case system is installed, be provided with the microprocessor module that is connected with radar probe, warning indicating module and steering state identification module is installed.
Second step: the adjustment information of the corresponding sound that triggers of signal of each radar probe of adjustment of the various steering state correspondences of this vehicle vehicle or visual alarm rank (" corresponding sound or the visual alarm rank that triggers of signal " hereinafter to be referred as triggering alert levels, rank comprises that minimum rank is not for triggering alerting signal) according to the difference of vehicle according to the Trajectory Design of travelling under each steering state of this vehicle and the range state (mainly referring to drive shift and reverse gear) or calculate the algorithm of this adjustment information according to various steering states and range state.So-called " adjustments " is exactly to change the triggering alert levels according to certain rules promptly to change each ultrasonic sensor and trigger the required signal of certain rank warning and emphasize." signal " of so-called radar probe is a kind of strength signal of analog or digital, and this strength signal has been shown the distance of the barrier in this radar probe and its search coverage.
The 3rd step: the adjustment information of the triggering alert levels of each radar of the adjustment of various steering states of the vehicle of corresponding vehicle and range state correspondence being popped one's head in according to the difference of vehicle or deposit microprocessor module in according to the algorithm that various steering states and range state calculate this adjustment information.
The 4th step: microprocessor module reads range state information in real time, and activates according to the activation or the part of range state information decision automatic backing parking radar system.
The 5th step: microprocessor module reads steering state information and in real time in conjunction with current range state information, according to this steering state information calculations or transfer the triggering alert levels of corresponding each radar probe, to the regulating degree of the triggering alert levels of certain radar probe from the easiest triggering report to the police (being the maximum probe zone) (be that any signal does not trigger warning to not triggering warning, or do not read the signal of this probe, the investigative range that zero search coverage, this situation appear at this radar probe is not on the moving direction under the vehicle current state time).
The 6th step: the triggering alert levels of each radar probe that the information that microprocessor module reads each radar probe in real time drew according to the 4th step is judged the rank (minimum rank is not for reporting to the police) of alerting signal.
The 7th step: microprocessor module sends the sound or the visual alarm of corresponding level according to the 6th alerting signal rank guide sound that draw of step or light alarm module.
After above-mentioned steps, also consider the method that starts or activate reverse radar system, mainly be to consider that range state according to vehicle starts or activates reverse radar system, also be provided with range state information data interface, microprocessor module is connected by the module that can read range state information on this interface and the vehicle, if there is not to read the data-interface of gear information on the vehicle, the gear information identification module can also be installed on vehicle to be connected by range state information data interface this module then with microprocessor module, microprocessor module judges whether to start reverse radar system by the gear information state that reads, and for example can start reverse radar system by whether being in the reverse gear state; All open reverse radar system in the time of also can directly being set in one grade or reverse gear state; Also can be by opening the backing parking radar system behind the vehicle launch reverse gear state, the following period of time that switches to the drive shift state then also can judge whether to continue to open the backing parking radar system; For manual vehicle, also can after switching to the reverse gear state, start reverse radar system, switch to one grade then and continue to open the backing parking radar system, no longer be in one grade or reverse gear state up to vehicle.Certainly the intelligent reversing parking radar system can also start or activates by modes such as manually opened, vice activation, the startups of speed of a motor vehicle state analysis.So-called speed of a motor vehicle state analysis is meant speed of a motor vehicle status information data interface and microprocessor module is set on the intelligent car-backing radar system, this interface is connected with the vehicle autometer Circuits System, microprocessor module judges whether to open the backing parking radar system according to the speed of a motor vehicle state that reads from this interface, for example: per hour open the backing parking radar system when the speed of a motor vehicle is lower than 5 kilometers.
In addition explanation a bit, described steering state information data interface and described range state information data interface can be set directly on the microprocessor module and promptly is incorporated in the microprocessor module.Microprocessor module also can be directly and other processor modules of vehicle combine perhaps shared core processor.
The installation of gear state recognition module and the read step of range state in above-mentioned steps, be to judge according to the range state of vehicle that vehicle advances or retreats to travel, according to this steering state driving trace of this vehicle with advance or the transport condition that retreats judges that the moving direction at each position of vehicle body can draw the triggering alert levels of each radar probe.Send any other alerting signal of level by microprocessor module according to the signal judgement of each radar probe.
The present invention has mainly proposed to move the technical scheme of the system of this step:
A kind of automatic backing parking radar, comprise the radar probe that is arranged on the tailstock or tailstock both sides, microprocessor module, sound or light alarm module and steering state information data interface are formed, wherein radar is popped one's head in, sound or light alarm module, the steering state data-interface is connected with microprocessor module, microprocessor module is adjusted in real time the corresponding sound or the visual alarm rank that triggers of signal of each radar probe according to the steering state information that reads from the steering state data-interface, stored in advance in the microprocessor module the various steering state correspondences of vehicle each radar probe of adjustment the corresponding sound that triggers of signal or other adjustment information of visual alarm level or calculate the algorithm of this adjustment information according to various steering states.
As replenishing of technique scheme, the triggering alert levels of each radar probe should be the Trajectory Design generation according to the reverse travel of the various steering state correspondences of this vehicle.
In order to obtain good radar probe signal, selected for use present widely used ultrasonic sensor to pop one's head in as radar as the preferred version automatic backing parking radar.
Lay special stress on of the present invention is not for there being design and installation can provide the vehicle of steering state massaging device that steering state information Recognition module can be installed, and the steering state information data interface on the microprocessor module can be connected with this steering state information Recognition module and read steering state information.
Consider from more intelligent angle easily, a plurality of radars probes can also be installed at vehicle periphery by intelligent reversing parking of the present invention system, the adjustment information of the triggering alert levels of each radar probe of adjustment that various steering states of store car and range state (mainly refer to drive shift and retreat shelves) are corresponding in microprocessor module or calculate the algorithm of this adjustment information according to various steering states and range state simultaneously, this algorithm are that the driving trace design according to various steering states of vehicle and range state correspondence generates.The automatic backing parking radar system not only can be when vehicle backing can also reflect the vehicle obstacle information on the moving direction everywhere for the driver provides the obstacle information that exists on the tailstock moving direction when vehicle advances and move backward like this.Also avoided at vehicle the many more puzzlements of false alarm that the many more not barriers on the vehicle moving direction of a plurality of radar probes back radar probe cause being installed in the prior art.
The state of peripheral obstacle is considered when reflection vehicle backing more directly perceived is parked, the automatic backing parking radar system that the present invention proposes also comprises image display module, this module can be microprocessor module in real time according to reading from the steering state data-interface or steering state that steering state data-interface and range state interface read or turn to and adjust the alerting signal that generates after the triggering alert levels of each radar probe with range state information and generate image and be shown to the driver and watch, or the search coverage that can cause alerting signal of each radar probe that draws according to each position moving direction of vehicle body is shown to the driver watches, help the zone that barrier on each position moving direction that the driver understands vehicle body and each position of vehicle body may move under current steering state.
The present invention has following beneficial effect:
The present invention greatly reduce existing radar for backing car in the Vehicular turn reversing or when advancing because fixing to trigger alert levels caused to the false alarm of the barrier on the vehicle movement track not.
Use the present invention can allow the driver in the time will moveing backward or advance, make judgement to reasonably turning to degree according to the alerting signal under each steering state, the driving difficulty that has lowered reversing greatly or parked allows the principle of backing parking radar system become to have the driving guidance system of correct travel route deixis from simple barrier warning function progress.
Description of drawings
The structural representation of Fig. 1 automatic backing parking radar of the present invention system.
Fig. 2 automatic backing parking radar of the present invention system comprises the structural representation of steering state identification module.
Fig. 3 automatic backing parking radar of the present invention system comprises the structural representation of range state information data interface.
Fig. 4 automatic backing parking radar of the present invention system comprises the structural representation of range state information data interface, steering state identification module and range state identification module.
The software flow pattern of Fig. 5 automatic backing parking radar of the present invention system.
Fig. 6 automatic backing parking radar of the present invention system comprise the gear identifying information can in the process of parking, move forward and backward travel can both early warning software flow pattern.
The alerting signal of the static probe signal intensity correspondence of the existing common radar for backing car of Fig. 7, corresponding obstacle detection area schematic, the zone of A striped is the general alarm example among the figure, the B fringe area is rapid the warning.
The alerting signal of the static probe signal intensity correspondence of the existing common radar for backing car of Fig. 8, when Vehicular turn is to a certain degree moveed backward to the synoptic diagram of the barrier false alarm on the vehicle backing moving direction not, the zone of A striped is the general alarm example among the figure, and the B fringe area is rapid the warning; Arrow 1 expression headstock moving direction, arrow 2 expression tailstock moving directions, C represents barrier.
Though to the alarm condition synoptic diagram of the barrier on tailstock moving direction at the vehicle body rear but not, the zone of A striped is the general alarm example among the figure when Vehicular turn is moveed backward in Fig. 9 automatic backing parking radar of the present invention system, the B fringe area is rapid the warning; Arrow 1 expression headstock moving direction, arrow 2 expression tailstock moving directions, C represents barrier.
Though to the alarm condition synoptic diagram of the barrier on tailstock moving direction in side behind the vehicle body but not, the zone of A striped is the general alarm example among the figure when vehicle is directly moveed backward in Figure 10 automatic backing parking radar of the present invention system, the B fringe area is rapid the warning; Arrow 4 expression tailstock moving directions, C represents barrier.
The system that Figure 11 automatic backing parking radar of the present invention system comprises preposition radar probe when Vehicular turn moves ahead to the alarm condition synoptic diagram of the barrier on the headstock moving direction in the vehicle body forward right side but not, the zone of A striped is the general alarm example among the figure, and the B fringe area is rapid the warning; Arrow 3 expression tailstock moving directions, C represents barrier.
Embodiment
Before the automatic backing parking radar system being installed, at first should design the triggering alert levels of the signal of each corresponding under each steering state of this vehicle radar probe according to the information of the wheelbase of this vehicle, wheelspan, vehicle commander, overall width, steering locking angle degree to vehicle.
The vehicle that automatic backing parking radar of the present invention is installed in this real-time example has the steering state data communication interface, the radar probe comprises that two ultrasonic sensors of the centre that is arranged on the tailstock become as shown in Figure 9 with two group of ultrasonic sensors that are arranged on tailstock both sides, the core microprocessors of microprocessor module is selected the C8051F340 single-chip microcomputer for use, alerting signal selects a sound and reports to the police by speaker module in the microprocessor module control car by the alerting signal of sounding of Music centre loudspeaker in the car, microprocessor by I the O mouth be connected with steering state information data interface and read steering state information, steering state information data interface is connected with the existing steering state data communication interface of vehicle, range state recognition interface on the microprocessor module reads vehicle when being in the reverse gear state, automatic backing parking radar system start-up, microprocessor by I O read steering state information, and transfer or calculate the triggering alert levels of vehicle each ultrasonic sensor under this steering state, microprocessor module after reading the signal of each ultrasonic sensor according to the triggering alert levels of current state, judge and make which kind of other alerting signal of level, minimum rank is not for sending any alerting signal, general rank is to send to be interrupted mild " ticking ... tick " sound, and emergency alarm is to send rapid continuously " ticking ... " sound.
As shown in Figure 9, vehicle has used automatic backing parking radar of the present invention system in Fig. 9, this vehicle when reversing with the wheel steering left side, this moment, the reverse travel track of this vehicle determined the headstock part phase right lateral side of this vehicle to move as shown in arrow 1, the afterbody of vehicle fails to agree rear side and moves as shown in arrow 2, though barrier C is positioned at tailstock dead astern scope, but because vehicle travels at steering state is so that a curve barrier C is not on the direction that the tailstock moves, reverse travel route under the current steering state is not constituted obstruction, should not cause warning (under same steering state, using the reverse radar system of constant intensity signal excitation alert levels will cause false alarm) if it should be noted that the barrier of same position.Intelligent reversing parking of the present invention system is according to the degree of Vehicular turn and be stored in information in the microprocessor module in advance, drawn the triggering alert levels of the signal of each backing parking radar as shown in Figure 9, wherein the leftmost side and a left side several second rank that ultrasonic sensor is maximum alarm range, very little signal that is to say these two ultrasonic sensor sensors as long as just can trigger warning, just being adjusted to of several the 3rd ultrasonic sensors in a left side needs a bigger signal could trigger warning, and the ultrasonic sensor of the rightmost side then is adjusted to needs a very big signal could trigger warning.The zone that so can trigger alerting signal just just in time is the zone that tailstock movement tendency points to.
The driver can turn to degree to turn to the alerting signal of degree to judge that safe and rational backing parking turns to degree according to each by adjustment after having used automatic backing parking radar of the present invention system, thereby makes the most rational backing parking travel direction and route.
Figure 10 and Figure 11 have illustrated to use the honest reversing back state of automatic backing parking radar of the present invention and the formation state that advances to the left front respectively.Reason is identical with adjustment illustrated in Figure 9.
Need to prove, the invention belongs to a kind of component invention, be a kind of innovation and creation that on technology is used, have novelty, wherein related radar probe, microprocessor module, steering state identification module, range state identification module, sound or light alarm module, image display module etc. all belong to prior art and existing various ways and application.Here the detailed explanation that just has been center deployment with embodiments of the invention, the imbody of described optimal way or some characteristic, should be understood to this instructions only is to describe the present invention by the mode that provides embodiment, in fact on some details of forming, construct and using, can change to some extent, comprise the combination and the assembly of parts, these distortion and application all should belong in the scope of the present invention.
Claims (8)
1. automatic backing parking radar system, comprise and be arranged on the preceding radar probe of the tailstock or vehicle body both sides or car, microprocessor module, sound or the light alarm module with, range state information data interface and steering state information data interface are formed, wherein radar is popped one's head in, sound or light alarm module, the steering state data-interface is connected with microprocessor module, range state information data interface is connected with microprocessor module, microprocessor module is in real time adjusted the corresponding sound or the visual alarm rank that triggers of signal of each radar probe according to the steering state information that reads from the steering state data-interface with from the range state information that range state information data interface reads, stored in advance in the microprocessor module various steering states of vehicle and range state correspondence adjustment " corresponding sound or the visual alarm rank that triggers of the signal of each radar probe " adjustment information or calculate the algorithm of this adjustment information according to various steering states.
2. according to the described automatic backing parking radar of claim 1 system, the corresponding sound that triggers of signal of the various steering states of vehicle of storage and each radar probe of the adjustment of range state correspondence or other adjustment information of visual alarm level or calculate the algorithm of this adjustment information according to various steering states in advance in the described microprocessor module are to generate according to the various steering states of this vehicle and the Trajectory Design of travelling of range state correspondence.
3. according to the described automatic backing parking radar of claim 1 system, wherein said radar probe is ultrasonic sensor.
4. according to the described automatic backing parking radar of claim 1 system, the signal of wherein said each radar probe is a kind of strength signal of analog or digital, and this strength signal has been shown the distance of the barrier in this radar probe and its search coverage.
5. also comprise the steering state identification module according to the described automatic backing parking radar of claim 1 system, described steering state identification module is connected with steering box and discerns steering state information, is connected with described steering state data-interface simultaneously and reads steering state information for microprocessor module.
6. according to the described automatic backing parking radar of claim 1 system, described microprocessor module also is provided with the range state identification module, and microprocessor module is by be connected range state identification module and read range state information of range state information data interface.
7. automatic backing parking radar according to claim 1 system is whether the gear information state decision vehicle that the range state information data interface according to described microprocessor module reads starts the backing parking radar system.
8. also comprise image display module according to the described automatic backing parking radar of claim 1, this module can be microprocessor module in real time according to reading from the steering state data-interface or steering state that steering state data-interface and range state interface read or turn to and adjust the alerting signal that generates after the corresponding sound that triggers of signal of each radar probe or the visual alarm rank with range state information and generate image and be shown to the driver and watch.
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| Application Number | Priority Date | Filing Date | Title |
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| CNA2008100001102A CN101216561A (en) | 2008-01-02 | 2008-01-02 | Automatic backing parking radar |
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| Application Number | Priority Date | Filing Date | Title |
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| CNA2008100001102A CN101216561A (en) | 2008-01-02 | 2008-01-02 | Automatic backing parking radar |
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| CN101216561A true CN101216561A (en) | 2008-07-09 |
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| CNA2008100001102A Pending CN101216561A (en) | 2008-01-02 | 2008-01-02 | Automatic backing parking radar |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009082904A1 (en) * | 2008-01-02 | 2009-07-09 | Zilong Ling | Intelligent low speed navigation radar system |
| CN102435983A (en) * | 2011-01-10 | 2012-05-02 | 同致电子科技（昆山）有限公司 | Method for automatically measuring monitoring range of vehicle-mounted radar |
| CN103064079A (en) * | 2011-10-24 | 2013-04-24 | 现代摩比斯株式会社 | Rear radar system and control method thereof |
| CN103857583A (en) * | 2011-10-12 | 2014-06-11 | 宝马股份公司 | Remote control for a parking assistance system and a parking assistance system which can be controlled by remote control |
| CN105223844A (en) * | 2015-09-15 | 2016-01-06 | 清华大学苏州汽车研究院（吴江） | A kind of UI of simulation and parking assisting system carry out mutual master system |
| CN108032948A (en) * | 2016-11-03 | 2018-05-15 | 深圳爱磁声学有限公司 | A kind of deformable electrodynamic balance car |
| CN108594789A (en) * | 2018-03-28 | 2018-09-28 | 吉利汽车研究院（宁波）有限公司 | A kind of off host reverse radar system and control method |
| CN110785676A (en) * | 2018-11-30 | 2020-02-11 | 深圳市大疆创新科技有限公司 | Upper obstacle detection method, device, system, vehicle and storage medium |
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2008
- 2008-01-02 CN CNA2008100001102A patent/CN101216561A/en active Pending
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009082904A1 (en) * | 2008-01-02 | 2009-07-09 | Zilong Ling | Intelligent low speed navigation radar system |
| CN102435983B (en) * | 2011-01-10 | 2013-07-03 | 同致电子科技（昆山）有限公司 | Method for automatically measuring monitoring range of vehicle-mounted radar |
| CN102435983A (en) * | 2011-01-10 | 2012-05-02 | 同致电子科技（昆山）有限公司 | Method for automatically measuring monitoring range of vehicle-mounted radar |
| US9946255B2 (en) | 2011-10-12 | 2018-04-17 | Bayerische Motoren Werke Aktiengesellschaft | Remote control for a parking assistance system and a parking assistance system which can be controlled by remote control |
| CN103857583A (en) * | 2011-10-12 | 2014-06-11 | 宝马股份公司 | Remote control for a parking assistance system and a parking assistance system which can be controlled by remote control |
| CN103857583B (en) * | 2011-10-12 | 2017-10-31 | 宝马股份公司 | Remote control for auxiliary system for parking |
| CN103064079B (en) * | 2011-10-24 | 2017-03-22 | 现代摩比斯株式会社 | Rear radar system and control method thereof |
| CN103064079A (en) * | 2011-10-24 | 2013-04-24 | 现代摩比斯株式会社 | Rear radar system and control method thereof |
| CN105223844A (en) * | 2015-09-15 | 2016-01-06 | 清华大学苏州汽车研究院（吴江） | A kind of UI of simulation and parking assisting system carry out mutual master system |
| CN105223844B (en) * | 2015-09-15 | 2018-03-27 | 清华大学苏州汽车研究院（吴江） | The master system that a kind of simulation UI interacts with parking assisting system |
| CN108032948A (en) * | 2016-11-03 | 2018-05-15 | 深圳爱磁声学有限公司 | A kind of deformable electrodynamic balance car |
| CN108032948B (en) * | 2016-11-03 | 2024-05-14 | 爱磁科技（深圳）有限公司 | Deformable electric balance car |
| CN108594789A (en) * | 2018-03-28 | 2018-09-28 | 吉利汽车研究院（宁波）有限公司 | A kind of off host reverse radar system and control method |
| CN110785676A (en) * | 2018-11-30 | 2020-02-11 | 深圳市大疆创新科技有限公司 | Upper obstacle detection method, device, system, vehicle and storage medium |
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Open date: 20080709 |