CN101585361A - Anti-collision and lane-departure-prevention control device for automobile - Google Patents

Anti-collision and lane-departure-prevention control device for automobile Download PDF

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CN101585361A
CN101585361A CNA2009100396690A CN200910039669A CN101585361A CN 101585361 A CN101585361 A CN 101585361A CN A2009100396690 A CNA2009100396690 A CN A2009100396690A CN 200910039669 A CN200910039669 A CN 200910039669A CN 101585361 A CN101585361 A CN 101585361A
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vehicle
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郭文艺
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Abstract

The invention provides an automobile anti-collision lane departure prevention control device which is characterized by comprising a 77GHz millimeter wave radar, a CCD visual machine, a radar signal processing device, a video processing module, a vehicle-mounted display, a sensor, control software and a loudspeaker; 77GHz millimeter wave radar, CCD visual machine, radar signal processing device, video processing module, vehicle-mounted display, sensor, control software and speaker are connected by signal. By adopting the structure, the automobile radar ranging is combined with the machine vision object and the lane identification and judgment, so that the accuracy of preventing the automobile from colliding and deviating the lane is greatly improved, the false alarm rate of an anti-collision system is reduced, and the auxiliary active safety during driving is improved.

Description

汽车防碰撞防车道偏离控制装置 Vehicle anti-collision and anti-lane departure control device

技术领域 technical field

本发明涉及汽车防撞安全控制装置,特别涉及汽车防碰撞防车道偏离控制装置。The invention relates to an automobile anti-collision safety control device, in particular to an automobile anti-collision and anti-lane departure control device.

背景技术 Background technique

与中国的人均GDP相比,中国汽车产业的增长显然更加迅速,然而与GDP和汽车产业共同成长的是各类道路交通事故。据公安部网站消息,2008年全国共发生道路交通事故265204起,造成73484人死亡、304919人受伤,直接财产损失10.1亿元。就广东省而言,广东省公安厅交管局公布的数字显示,2008年广东共发生道路交通事故39458起,死亡7280人,受伤46960人,直接经济损失达9300多万元。我国政府已经感受到道路安全的压力,以2020年为限力争达到万车死亡率5人以下。根据现有的统计数字,中国道路的万车死亡率为9人。欧美发达国家则为1人至3人。为了实现这一目标,必定会逐步采用更为先进的汽车主动安全技术。同时,中国市场经过几年的快速发展,消费者对于汽车的需求正在从满足基本代步功能转向追求舒适与安全性等更高层次的需求。这其中,毋庸置疑,安全性的考虑是消费者更为关注的因素。ABS(防抱死制动系统)、ESP(电控行驶平稳系统)等主动安全产品在很短的时间内从高端车型配备到现在成为各种车型的标配,就是典型的例子。汽车在道路上行驶发生交通事故的事故形态主要包括正面相撞、侧面相撞、尾随相撞、对向刮擦以及同向刮擦等。这几种主要交通事故形态占据所有交通事故形态的80%-90%,因此,如何减少避免碰撞或者刮擦引起的人身或者财产损失是目前极需解决的问题。Compared with China's per capita GDP, the growth of China's auto industry is obviously faster. However, all kinds of road traffic accidents grow together with GDP and auto industry. According to the website of the Ministry of Public Security, there were 265,204 road traffic accidents across the country in 2008, resulting in 73,484 deaths, 304,919 injuries, and direct property losses of 1.01 billion yuan. As far as Guangdong Province is concerned, according to figures released by the Traffic Management Bureau of the Guangdong Provincial Public Security Department, there were 39,458 road traffic accidents in Guangdong in 2008, with 7,280 deaths, 46,960 injuries, and direct economic losses of more than 93 million yuan. The Chinese government has already felt the pressure of road safety, and strives to achieve a death rate of less than 5 per 10,000 vehicles within the limit of 2020. According to the available statistics, the death rate per 10,000 vehicles on Chinese roads is 9. In developed countries in Europe and the United States, there are 1 to 3 people. In order to achieve this goal, more advanced automotive active safety technologies must be gradually adopted. At the same time, after several years of rapid development in the Chinese market, consumers' demand for cars is shifting from satisfying basic transportation functions to pursuing higher-level needs such as comfort and safety. Among them, there is no doubt that safety considerations are factors that consumers pay more attention to. It is a typical example that active safety products such as ABS (anti-lock braking system) and ESP (electronically controlled driving stability system) have been equipped with high-end models in a very short period of time and now become standard equipment for various models. The accident forms of traffic accidents caused by cars running on the road mainly include frontal collision, side collision, tailgating collision, opposite scrape and same direction scrape and so on. These main forms of traffic accidents account for 80%-90% of all traffic accident forms. Therefore, how to reduce and avoid personal or property losses caused by collisions or scratches is an urgent problem to be solved at present.

发明内容 Contents of the invention

本发明的目的是为了解决上述现有技术的不足,而采用多传感器主动防撞系统,能在很大程度上减少避免碰撞或者刮擦引起的人身或者财产损失的汽车防碰撞防车道偏离控制装置。The purpose of the present invention is to solve the deficiencies of the above-mentioned prior art, and adopt a multi-sensor active collision avoidance system, which can reduce to a large extent the automobile anti-collision and anti-lane departure control device that avoids personal or property losses caused by collisions or scratches .

本发明的目的是通过如下技术方案来实现的:汽车防碰撞防车道偏离控制装置,其特征在于它包括77GHz毫米波雷达器,CCD视觉机器,雷达信号处理装置,视频处理模块,车载显示器,传感器,控制软件和扬声器;77GHz毫米波雷达器,CCD视觉机器,雷达信号处理装置,视频处理模块,车载显示器,传感器,控制软件和扬声器之间由信号连接。The object of the present invention is achieved through the following technical solutions: automobile anti-collision and anti-lane departure control device, which is characterized in that it includes a 77GHz millimeter-wave radar, a CCD vision machine, a radar signal processing device, a video processing module, a vehicle display, and a sensor , control software and speakers; 77GHz millimeter wave radar, CCD vision machine, radar signal processing device, video processing module, vehicle display, sensors, control software and speakers are connected by signals.

所述77GHz毫米波雷达器采用FMCW波形及具有收发双馈源的准光透镜天线。The 77GHz millimeter wave radar adopts FMCW waveform and a quasi-optical lens antenna with dual feeds for transmitting and receiving.

所述CCD视觉机器为近红外黑白,要求像素最少为30万,每秒30帧图形采集能力.镜头为12mm。The CCD vision machine is near-infrared black and white, requiring at least 300,000 pixels and 30 frames per second graphics acquisition capability. The lens is 12mm.

所述传感器包括77GHz毫米波雷达传感器,一个前图像传感器,两个侧边广角图象传感器。The sensors include a 77GHz millimeter-wave radar sensor, a front image sensor, and two side wide-angle image sensors.

所述控制软件包括主动碰撞模糊预测软件和防撞执行软件。The control software includes active collision fuzzy prediction software and anti-collision execution software.

本发明由于采用上述结构,该77GHz毫米波雷达,用于0-200米的远程物理测距;CCD摄像机,用于0-100米的模拟测距和物体判断,车道黄白线的识别判断;视频处理模块,用于接收并多帧累加处理所述的视频信号进行高速处理判断;车载显示器,用于接收并显示经所述雷达测距和视频处理后的车距和车道信息。本发明的汽车雷达测距和机器视觉物体和车道识别判断结合,大大提高了汽车防撞防车道偏离的准确度,降低防撞系统的虚警率,提高驾驶时辅助的主动安全性。Because the present invention adopts the above-mentioned structure, the 77GHz millimeter-wave radar is used for long-distance physical distance measurement of 0-200 meters; the CCD camera is used for analog distance measurement and object judgment of 0-100 meters, and the identification and judgment of yellow and white lines of the roadway; The processing module is used to receive and multi-frame cumulatively process the video signal for high-speed processing and judgment; the vehicle-mounted display is used to receive and display the vehicle distance and lane information after the radar ranging and video processing. The combination of automobile radar distance measurement and machine vision object and lane recognition and judgment of the present invention greatly improves the accuracy of automobile collision avoidance and lane departure prevention, reduces the false alarm rate of the collision avoidance system, and improves the active safety of assistance during driving.

附图说明 Description of drawings

图1是本发明汽车防碰撞防车道偏离控制装置原理图;Fig. 1 is the schematic diagram of the automobile anti-collision anti-lane departure control device of the present invention;

图2是77GHz毫米波雷达器结构示意图;Figure 2 is a schematic diagram of the structure of a 77GHz millimeter-wave radar;

图3是天线结构图;Fig. 3 is an antenna structural diagram;

图4是主动碰撞模糊预测示意图;Fig. 4 is a schematic diagram of active collision fuzzy prediction;

图5是防撞执行示意图。Fig. 5 is a schematic diagram of anti-collision implementation.

具体实施案例Specific implementation cases

下面结合附图对本发明作进一步说明:The present invention will be further described below in conjunction with accompanying drawing:

在图1中,汽车防碰撞防车道偏离控制装置,它包括77GHz毫米波雷达器,CCD视觉机器,雷达信号处理装置,视频处理模块,车载显示器,传感器,控制软件和扬声器;77GHz毫米波雷达器,CCD视觉机器,雷达信号处理装置,视频处理模块,车载显示器,传感器,控制软件和扬声器之间由信号连接。传感器包括雷达传感器和视频传感器等,把分布在不同位置的多个同类或不同类传感器所提供的多源信息,进行综合处理,降低探测的不确定性,形成对系统环境相对一致的感知描述,以便得到一个准确可靠的分析和判断结果,从而提高系统决策能力。In Figure 1, the car anti-collision and anti-lane departure control device includes a 77GHz millimeter-wave radar, a CCD vision machine, a radar signal processing device, a video processing module, a vehicle display, sensors, control software and speakers; a 77GHz millimeter-wave radar , CCD vision machine, radar signal processing device, video processing module, vehicle display, sensors, control software and speakers are connected by signals. Sensors include radar sensors and video sensors, etc., which comprehensively process the multi-source information provided by multiple sensors of the same type or different types distributed in different locations, reduce the uncertainty of detection, and form a relatively consistent perception description of the system environment. In order to obtain an accurate and reliable analysis and judgment results, thereby improving the system's decision-making ability.

在图2中,毫米波防撞雷达将采用三角波调频的FMCW波形,该波形具有同时测距和测速的能力,根据典型车辆的RCS和77GHz的大气衰减指测算,在雷达作用距离不大于200m的情况下,雷达发射功率大约需要20mW,选择三角波调制带宽300MHz,依据距离分辨率理论公式ΔR=kc/2B(其中c为光速,B为带宽,k为信号处理的损失,k=1.3~1.5),可得距离分辨率ΔR=0.75m。另外,考虑三角波调制的线性度要求,只要线性度优于1m/150m=0.6%,调频非线性对距离分辨率的影响基本可以忽略。若要求单次扫描测量的测速精度达到0.5m/s,三角波扫频周期至少需要4ms。若考虑使用多周期平滑滤波处理,则要达到0.5m/s的测速精度,可以使用小于4ms的扫频周期。毫米波雷达系统的结构如图2所示,主要包括毫米波雷达前端和实时信号处理器两个部分。毫米波雷达测距可以采用FMCW波形或者脉冲波形,如果要使得测距范围在1-200m,则对于短距离测量常用的脉冲波形不易实现,故本课题采用FMCW波形作为毫米波雷达系统的工作方式,发射机功率为20mW。如果距离分辨率为1m,则根据距离分辨力公式Δ=c/2Δf,可以选择扫频带宽300MHz。In Figure 2, the millimeter-wave anti-collision radar will use the triangular wave frequency-modulated FMCW waveform, which has the ability to measure distance and speed at the same time. According to the RCS of a typical vehicle and the atmospheric attenuation index of 77GHz, the radar action distance is not greater than 200m. Under normal circumstances, the radar transmission power needs about 20mW, and the triangular wave modulation bandwidth is selected to be 300MHz. According to the theoretical formula of distance resolution ΔR=kc/2B (where c is the speed of light, B is the bandwidth, k is the loss of signal processing, k=1.3~1.5) , the distance resolution ΔR=0.75m can be obtained. In addition, considering the linearity requirement of triangular wave modulation, as long as the linearity is better than 1m/150m=0.6%, the influence of FM nonlinearity on distance resolution can be basically ignored. If the speed measurement accuracy of single sweep measurement is required to reach 0.5m/s, the triangular wave sweep period needs to be at least 4ms. If considering the use of multi-cycle smoothing filter processing, the speed measurement accuracy of 0.5m/s can be achieved, and the frequency sweep cycle of less than 4ms can be used. The structure of the millimeter-wave radar system is shown in Figure 2, which mainly includes two parts: the front-end of the millimeter-wave radar and the real-time signal processor. Millimeter-wave radar ranging can use FMCW waveform or pulse waveform. If the ranging range is 1-200m, the pulse waveform commonly used for short-distance measurement is not easy to achieve. Therefore, this topic adopts FMCW waveform as the working mode of the millimeter-wave radar system. , the transmitter power is 20mW. If the distance resolution is 1m, then according to the distance resolution formula Δ=c/2Δf, the frequency sweep bandwidth can be selected as 300MHz.

毫米波雷达前端设计包括天线模块、VCO模块、功率发生模块、下变频接收模块以及参考信号模块等几个功能块,如下图3所示:The millimeter-wave radar front-end design includes several functional blocks such as the antenna module, VCO module, power generation module, down-conversion receiver module, and reference signal module, as shown in Figure 3 below:

1)天线模块1) Antenna module

天线波束在俯仰方向为3°,在方位向要覆盖9-12°,用一个波束覆盖方向,则对目标方向坐标精度太低,用3个波束覆盖。The antenna beam is 3° in the elevation direction, and it needs to cover 9-12° in the azimuth direction. If one beam covers the direction, the accuracy of the target direction coordinates is too low, and three beams are used to cover.

2)VCO模块2) VCO module

振荡器电路由12.75GHz的VCO再接三倍频器组成,在VCO频率和38GHz处的缓冲放大器可减小电路对温度和其它影响的敏感性。采用Schottky变容管调谐。一个外置的中等Q值的无源谐振器对给出的频率调谐范围提供中心频率、温度稳定性和最佳的相位噪声。The oscillator circuit consists of a 12.75GHz VCO followed by a frequency tripler. A buffer amplifier at the VCO frequency and 38GHz reduces the sensitivity of the circuit to temperature and other influences. Tuning with a Schottky varactor. An external medium-Q passive resonator provides center frequency, temperature stability and best phase noise for a given frequency tuning range.

3)功率发射模块3) Power transmission module

功率发射电路包括倍频器,把本振输入的38GHz信号倍频到76GHz,后面接一个中功率放大器,这个电路有主通道输出和次通道输出。主通道输出从发射天线辐射出去,次通道输出用作下变频接收机的本振。The power transmission circuit includes a frequency multiplier, which multiplies the 38GHz signal input by the local oscillator to 76GHz, followed by a medium power amplifier. This circuit has a main channel output and a secondary channel output. The primary channel output is radiated from the transmit antenna, and the secondary channel output is used as the local oscillator for the down-conversion receiver.

4)下变频接收模块4) Down conversion receiver module

这个下变频接收模块用于将目标反射的信号变换到中频,送交信号处理模块处理,这个模块需要有较低的低频噪声。The down-conversion receiving module is used to convert the signal reflected by the target to an intermediate frequency and send it to the signal processing module for processing. This module needs to have lower low-frequency noise.

5)参考信号模块5) Reference signal module

这个模块包括有高质量固定频率振荡器和二次谐波混频器。还使用缓冲放大器来保证在各种环境条件下改善性能,振荡器须耦合到外置高Q谐振器,以取得稳定性和相位噪声性能。This module includes a high quality fixed frequency oscillator and a second harmonic mixer. A buffer amplifier is also used to ensure improved performance over a wide range of environmental conditions, and the oscillator must be coupled to an external high-Q resonator for stability and phase noise performance.

在图4中,碰撞预测系统根据传感器采集的各种信息,估计汽车与道路上的其他障碍物发生碰撞的可能性,或在没打方向灯无意识的偏离出车道线,并确定当前驾驶安全状态和预警机制,碰撞预测系统需要根据道路上的实际情况,实时调整参数并在各个驾驶状态之间及时切换,碰撞预测系统的各个传感器的输入以及执行机构的控制特性具有非线性和时变性,同时各子系统都有自身的信息处理机制以及控制策略,由于碰撞预测系统需要及时考虑系统运行中的各种特性如状态时间渐变性、离散事件动态和跳变现象、控制状态切换和逻辑命令等,正是由于道路实际状况,以及碰撞预测系统结构和工作过程的复杂性,导致其控制策略要比被动的防撞更加复杂,也要更加健壮,因此,主动碰撞预测系统采用模糊控制技术,主动碰撞模糊预测系主要任务对于道道路环境,驾驶状态,传感器输入,控制参数,执行反馈及其各子系统运行状态参数,建立参数以及非参数的模型,以求出最佳系统模型,且采用局部优化策略,对各个参数,如障碍物的移动速度和方向,预计碰撞时间和几率,车速估计,执行反馈时间,进行有限数目是循环的优化,对实际输出和模型输出不断比较并反馈校正,以实现跟踪参考值。其优势在于:由于采用了每次优化有限但是重要的参数,使得优化计算量和系统反应时间大大减小;同时采用滚动策略,在局部优化的基础上实现了全局的优化;同时利用反馈校正,解决了系统干扰等不确定问题,各子系统之间的通讯由CAN总线来实现。In Figure 4, the collision prediction system estimates the possibility of the car colliding with other obstacles on the road based on various information collected by the sensor, or unintentionally deviates from the lane line without turning on the turn signal, and determines the current driving safety state and early warning mechanism, the collision prediction system needs to adjust parameters in real time and switch between various driving states in real time according to the actual situation on the road. The input of each sensor of the collision prediction system and the control characteristics of the actuator are nonlinear and time-varying. Each subsystem has its own information processing mechanism and control strategy. Since the collision prediction system needs to consider various characteristics in the system operation in time, such as state time gradient, discrete event dynamics and jump phenomena, control state switching and logic commands, etc., It is precisely because of the actual road conditions and the complexity of the structure and working process of the collision prediction system that its control strategy is more complex and robust than passive collision avoidance. Therefore, the active collision prediction system adopts fuzzy control technology, and the active collision The main task of the fuzzy prediction system is to establish parametric and non-parametric models for the road environment, driving state, sensor input, control parameters, execution feedback and the operating state parameters of each subsystem, in order to find the best system model, and use local optimization Strategy, for each parameter, such as the moving speed and direction of the obstacle, the expected collision time and probability, the vehicle speed estimation, the execution feedback time, the optimization of a limited number of cycles, the actual output and the model output are constantly compared and feedback corrections are made to achieve Track reference values. Its advantages are: due to the use of limited but important parameters for each optimization, the optimization calculation amount and system response time are greatly reduced; at the same time, the rolling strategy is used to achieve global optimization on the basis of local optimization; at the same time, feedback correction is used. Uncertain problems such as system interference are solved, and communication between subsystems is realized by CAN bus.

在图5中,防撞执行机构主要由声光报警、主动减速、紧急制动三个模块组成。声光报警根据当前的车速,以及预测碰撞的时间,和障碍物的距离转化为预警声音的大小以及内容,并配合相应的报警信号灯,声音提醒提示会出现碰撞的方向,通过根据短促而连续报警声音的间隔时间提示危险程度以及障碍物的距离;主动减速将根据当前车速,和司机的动作(加速踏板行程、制动踏板行程和档位信号)障碍物的距离转换成对汽车行使的速度要求,并通过速度转矩控制模块转化为发动及的输出转转矩需求;速度转矩控制模块主要负责速度或者汽车换档、模式切换过程中所产生的转矩波动而修正转矩分配模块所输出的发动机的转矩进行控制,以满足车辆自动减速的平稳性;紧急制动模块则根据司机的反应速度,以及当前预测的碰撞时间,在司机无法做出有效的刹车动作时候,自动发出刹车命令给制动控制转换模块;制动控制转换模块根据汽车速度以及障碍物距离和速度转化为制动力矩和制动里输出给汽车制动机构,控制汽车的制动。In Figure 5, the anti-collision actuator is mainly composed of three modules: sound and light alarm, active deceleration, and emergency braking. The sound and light alarm is converted into the size and content of the warning sound according to the current speed of the vehicle, the time of the predicted collision, and the distance from the obstacle, and with the corresponding alarm signal light, the sound reminder prompts the direction of the collision. The interval time of the sound prompts the degree of danger and the distance of the obstacle; the active deceleration converts the distance of the obstacle into the speed requirement for the car according to the current speed and the driver's actions (acceleration pedal travel, brake pedal travel and gear signal) , and through the speed-torque control module, it is transformed into the output torque demand of the engine; the speed-torque control module is mainly responsible for the speed or the torque fluctuation generated during the shifting and mode switching of the car, and corrects the output of the torque distribution module The torque of the engine is controlled to meet the smoothness of the automatic deceleration of the vehicle; the emergency braking module automatically issues a braking command when the driver cannot make an effective braking action according to the driver's reaction speed and the current predicted collision time To the braking control conversion module; the braking control conversion module converts the braking torque and braking torque into the braking torque and output to the braking mechanism of the vehicle according to the speed of the vehicle and the distance and speed of obstacles to control the braking of the vehicle.

以上是本发明型一具体实施例,然而本领域的普通技术人员仍可作出不脱离本发明的方案仍落入本发明的保护范围。The above is a specific embodiment of the present invention, but those skilled in the art can still make solutions that do not depart from the present invention and still fall within the protection scope of the present invention.

Claims (5)

1、汽车防碰撞防车道偏离控制装置,其特征在于它包括77GHz毫米波雷达器,CCD视觉机器,雷达信号处理装置,视频处理模块,车载显示器,传感器,控制软件和扬声器;77GHz毫米波雷达器,CCD视觉机器,雷达信号处理装置,视频处理模块,车载显示器,传感器,控制软件和扬声器之间由信号连接。1. Automobile anti-collision and anti-lane departure control device, which is characterized in that it includes a 77GHz millimeter wave radar, a CCD vision machine, a radar signal processing device, a video processing module, a vehicle display, sensors, control software and speakers; a 77GHz millimeter wave radar , CCD vision machine, radar signal processing device, video processing module, vehicle display, sensors, control software and speakers are connected by signals. 2、根据权利要求1所述的汽车防碰撞防车道偏离控制装置,其特征在于所述77GHz毫米波雷达器采用FMCW波形及具有收发双馈源的准光透镜天线。2. The vehicle anti-collision and anti-lane departure control device according to claim 1, characterized in that the 77GHz millimeter-wave radar adopts FMCW waveform and a quasi-optic lens antenna with dual transceiver feeds. 3、根据权利要求1所述的汽车防碰撞防车道偏离控制装置,其特征在于所述CCD视觉机器为近红外黑白,要求像素最少为30万,每秒30帧图形采集能力.镜头为12mm。3. The vehicle anti-collision and anti-lane departure control device according to claim 1, characterized in that the CCD vision machine is near-infrared black and white, requires at least 300,000 pixels, and 30 frames per second graphics acquisition capability. The lens is 12mm. 4、根据权利要求1所述的汽车防碰撞防车道偏离控制装置,其特征在于所述传感器包括77GHz毫米波雷达传感器,一个前图像传感器,两个侧边广角图象传感器。4. The vehicle anti-collision and anti-lane departure control device according to claim 1, characterized in that said sensors include a 77GHz millimeter-wave radar sensor, a front image sensor, and two side wide-angle image sensors. 5、根据权利要求1所述的汽车防碰撞防车道偏离控制装置,其特征在于所述控制软件包括主动碰撞模糊预测软件和防撞执行软件。5. The vehicle anti-collision and anti-lane departure control device according to claim 1, characterized in that said control software includes active collision fuzzy prediction software and anti-collision execution software.
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