CN101585361A - Control device for preventing automobile from colliding and deviating roadway - Google Patents

Control device for preventing automobile from colliding and deviating roadway Download PDF

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Publication number
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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CN
China
Prior art keywords
control
roadway
colliding
deviating
sensor
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CNA2009100396690A
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Chinese (zh)
Inventor
郭文艺
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郭文艺
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Priority to CNA2009100396690A priority Critical patent/CN101585361A/en
Publication of CN101585361A publication Critical patent/CN101585361A/en

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Abstract

The present invention provides a control device for preventing an automobile from colliding and deviating a roadway, characterized of comprising a 77GHz millimeter-wave radar, a CCD vision machine, a radar signal processing device, a video processing module, a vehicle-mounted display, a sensor, a control software and a loudspeaker; the 77GHz millimeter-wave radar, the CCD vision machine, the radar signal processing device, the video processing module, the vehicle-mounted display, the sensor, the control software and the loudspeaker are connected through signal connections. By means of the above structure, an automobile radar ranging combines with a machine vision object as well as a roadway reorganization and judge, which improves an precision for preventing the automobile from colliding and deviating the roadway greatly, reduces a false alarm rate of an anti-collision system and improves an assistant active safety when driving.

Description

Control device for preventing automobile from colliding and deviating roadway
Technical field
The present invention relates to the automobile collision preventing safety control, particularly control device for preventing automobile from colliding and deviating roadway.
Background technology
Compare with the GDP per capita of China, the growth of Chinese automobile industry is obviously rapider, yet common what grow up is all kinds of road traffic accidents with GDP and automobile industry.According to Ministry of Public Security's website message, 265204 of road traffic accidents took place in the whole nation altogether in 2008, caused 73484 people's death, 304919 people injured, 10.1 hundred million yuan of direct property loss.With regard to Guangdong Province, the numeric display that Traffic Administration Bureau of Department of Public Security of Guangdong Province announces, 39458 of road traffic accidents took place in Guangdong altogether in 2008, dead 7280 people, injured 46960 people, direct economic loss reaches more than 9,300 ten thousand yuan.The Chinese government has experienced the pressure of road safety, exceeds with the year two thousand twenty and strives reaching below ten thousand car mortality, 5 people.According to existing statistical figure, ten thousand car mortality of Chinese road are 9 people.American-European developed country then is 1 people to 3 people.In order to realize this goal, must progressively adopt more advanced automobile active safety technology.Simultaneously, Chinese market is through in a few years fast development, and the customer turns to higher level demands such as pursuing comfortable and safety from satisfying the function of riding instead of walk substantially for the demand of automobile.This is wherein unquestionable, and the consideration of safety is the factor that the customer more pays close attention to.ABS (anti-skid brake system), ESP active safety products such as (the automatically controlled steady systems of travelling) is installed to the standard configuration that becomes various vehicles now from high-end vehicle in a short period of time, is exactly the representative type example.Automobile mainly comprises in the accident form of travels down generation traffic accident and positively bumping against, bump against the side, trail collisions, subtend scraping and swipe in the same way etc.These several main traffic accident forms occupy the 80%-90% of all traffic accident forms, and therefore, how reducing the person or the property damage that crash-avoidance or scraping cause is the problem that the present utmost point need solve.
Summary of the invention
The objective of the invention is in order to solve above-mentioned the deficiencies in the prior art, and adopt initiatively collision avoidance system of multisensor, can reduce the person that crash-avoidance or scraping cause or the control device for preventing automobile from colliding and deviating roadway of property damage to a great extent.
The objective of the invention is to realize by following technical solution: control device for preventing automobile from colliding and deviating roadway, it is characterized in that it comprises 77GHz millimeter wave radar device, the CCD visual machine, the Radar Signal Processing device, video processing module, Vehicular display device, sensor, Control Software and loud speaker; 77GHz millimeter wave radar device, the CCD visual machine, the Radar Signal Processing device, video processing module, Vehicular display device, sensor is connected by signal between Control Software and the loud speaker.
Described 77GHz millimeter wave radar device adopts the FMCW waveform and has the quasi-optical lens antenna in transmitting-receiving double-fed source.
Described CCD visual machine is the near infrared black and white, and requiring pixel minimum is 300,000, per second 30 frame figure acquisition capacity. camera lens is 12mm.
Described sensor comprises 77GHz millimeter wave radar sensor, a preceding imageing sensor, two side wide-angle image sensors.
Described Control Software comprises initiatively collides fuzzy prediction software and crashproof executive software.
The present invention is owing to adopt said structure, and this 77GHz millimeter wave radar is used for the long-range physical distance measurement of 0-200 rice; Ccd video camera, the analogue ranging and the object that are used for 0-100 rice judge that the identification of the yellowish-white line in track is judged; Video processing module is used for receiving and the described vision signal of multiframe accumulation process is carried out the high speed processing judgement; Vehicular display device is used to receive and shows spacing and lane information after described radar ranging and video processing.Car radar range finding of the present invention and machine vision object and lane identification are judged combination, have improved the accuracy of automobile collision preventing preventing deviation greatly, reduce the false alarm rate of collision avoidance system, improve active safety auxiliary when driving.
Description of drawings
Fig. 1 is a control device for preventing automobile from colliding and deviating roadway schematic diagram of the present invention;
Fig. 2 is a 77GHz millimeter wave radar device structural representation;
Fig. 3 is an antenna assumption diagram;
Fig. 4 initiatively collides the fuzzy prediction scheme drawing;
Fig. 5 is crashproof execution scheme drawing.
Concrete case study on implementation
The invention will be further described below in conjunction with accompanying drawing:
In Fig. 1, control device for preventing automobile from colliding and deviating roadway, it comprises 77GHz millimeter wave radar device, CCD visual machine, Radar Signal Processing device, video processing module, Vehicular display device, sensor, Control Software and loud speaker; 77GHz millimeter wave radar device, the CCD visual machine, the Radar Signal Processing device, video processing module, Vehicular display device, sensor is connected by signal between Control Software and the loud speaker.Sensor comprises radar sensor and video sensor etc., being distributed in a plurality of similar of diverse location or multi-source information that the inhomogeneity sensor is provided, carry out comprehensive treatment, reduce the uncertainty of surveying, formation is to the consistent relatively perception description of system environments, analyze accurately and reliably and judged result so that obtain one, thereby improve system decision-making ability.
In Fig. 2, the millimeter wave collision avoidance radar will adopt the FMCW waveform of chopping sea frequency modulation, this waveform has the ability of finding range simultaneously and testing the speed, refer to measuring and calculating according to the RCS of typical vehicle and the atmospheric attenuation of 77GHz, be not more than at radar range under the situation of 200m, radar emission power approximately needs 20mW, select triangular modulation bandwidth 300MHz, (wherein c is the light velocity according to range resolution theoretical formula Δ R=kc/2B, B is a bandwidth, k is the loss of signal conditioning, k=1.3～1.5), can get range resolution Δ R=0.75m.In addition, consider the linearity requirement of triangular modulation, as long as the linearity is better than 1m/150m=0.6%, the influence of the non-linear resolution of adjusting the distance of frequency modulation can be ignored substantially.If require the range rate accuracy of single sweep measurement to reach 0.5m/s, the chopping sea frequency sweep cycle needs 4ms at least.If consider to use the multicycle The disposal of gentle filter, then to reach the range rate accuracy of 0.5m/s, can use frequency sweep cycle less than 4ms.The structure of millimeter wave radar system mainly comprises two parts of millimeter wave radar front end and real-time signal processor as shown in Figure 2.The millimeter wave radar range finding can be adopted FMCW waveform or pulse pattern, if make finding range at 1-200m, then measure pulse pattern commonly used and be difficult for realizing that so this problem adopts the mode of operation of FMCW waveform as the millimeter wave radar system, transmitter power is 20mW for short range.If range resolution is 1m, then, can select frequency sweep bandwidth 300MHz according to range discrimination formula Δ=c/2 Δ f.
The millimeter wave radar Front-end Design comprises several function blocks such as Anneta module, VCO module, power generation module, down coversion receiver module and reference signal module, is illustrated in fig. 3 shown below:
1) Anneta module
Antenna beam is 3 ° in pitch orientation, and is to covering 9-12 °, then too low to the target direction coordinate precision with a wave beam coverage direction in the orientation, covers with 3 wave beams.
2) VCO module
Pierce circuit connects frequency tripler again by the VCO of 12.75GHz to be formed, and the buffer amplifier at VCO frequency and 38GHz place can reduce the sensivity of circuit to temperature and other influence.Adopt the Schottky varactor tuning.The passive resonance device of an external medium Q value provides central frequency, temperature stability and best phase noise to the frequency tuning range that provides.
3) power emission module
The power emission circuit comprises frequency double, and to 76GHz, the back connects an intermediate power amplifier the 38GHz signal frequency multiplication of local oscillator input, and this circuit has main channel output and subchannel output.Main channel output radiate from emitting antenna, and subchannel output is as the local oscillator of down coversion receiver.
4) down coversion receiver module
This down coversion receiver module is used for intermediate frequency is arrived in the signal transformation of target reflection, delivers signal processing module and handles, and this module needs lower low-frequency noise.
5) reference signal module
This module includes high quality fixed frequency oscillator and second harmonic frequency mixer.Also use buffer amplifier to guarantee to improve performance under various environmental conditionss, oscillator must be coupled to external high Q resonator, to obtain stability and phase noise performance.
In Fig. 4, collision prediction system is according to the various information of sensor acquisition, estimate the possibility that other obstacles on automobile and the road bump, or not beating indicator is unconscious to depart from lane mark, and definite current driving safety state and early warning mechanism, collision prediction system need be according to the actual conditions on the road, adjustment data and switching in time between each driving condition in real time, the input of each sensor of collision prediction system and the controller characteristic curve of actuating unit have non-linear and time variation, each subsystem all has information processing mechanism and the control policy of self simultaneously, because collision prediction system needs operating various characteristics of timely taking into account system such as state time gradually changeable, dynamic and the saltus step phenomenon of discrete event, state of a control switching and logical order etc., just because of the road actual state, and the complexity of collision prediction system structure and working process, cause its control policy than passive crashproof complexity more, also healthy and strong more, therefore, initiatively collision prediction system adopts fuzzy control technology, initiatively colliding the fuzzy prediction owner wants task for road road environment, driving condition, the sensor input, controlled variable, carry out feedback and each subsystem running state parameter thereof, set up parameter and non-parametric model, to obtain the optimizer system model, and adopt the local optimum strategy, to each parameter, moving velocity and direction as obstacle, estimate collision time and probability, the speed of a motor vehicle is estimated, carry out feedback time, carrying out finite population is on-cycle optimization, real output and model output is constantly compared and feedback compensation, to realize the track reference value.It is advantageous that: but owing to adopted the limited important parameters of each optimization, make computation optimization amount and system reaction time reduce greatly; Adopt the strategy that rolls simultaneously, on the basis of local optimum, realized overall optimization; Utilize feedback compensation simultaneously, solved uncertain problems such as system interference, the communication between each subsystem is realized by the CAN bus.
In Fig. 5, crashproof actuating unit mainly is made up of sound and light alarm, active deceleration, three modules of emergency braking.Sound and light alarm is according to the current speed of a motor vehicle, and the time of prediction collision, be converted into the size and the content of early warning sound with the distance of obstacle, and cooperate corresponding alert lamp, the direction of collision can appear in sound prompting prompting, by according to very brief and the pitch time prompting hazard level of continuous alarm sound and the distance of obstacle; Initiatively slowing down will be according to current vehicle speed, convert the rate request that automobile is exercised to the distance of driver's action (accelerator travel, brake-pedal travel and gear signal) obstacle, and by the speed torque control module be converted into start and the output square demand of walking around; The speed torque control module mainly is responsible for the torque fluctuation that is produced in speed or car gear shifting, the mode switch process and the torque of revising the driving engine that the torque distribution module exported is controlled, to satisfy the stationarity of vehicle automatic deceleration; The emergency braking module is then according to driver's speed of response, and the collision time of current prediction, when the driver can't make the actv. brake, sends braking commands automatically and gives the control of braking modular converter; The control of braking modular converter is converted in lock torque and the braking according to car speed and obstacle distance and speed and exports to automobile braking mechanism, the braking of Control of Automobile.
More than be type one specific embodiment of the present invention, yet those of ordinary skill in the art still can make and not break away from the solution of the present invention and still fall into protection scope of the present invention.

Claims (5)

1, control device for preventing automobile from colliding and deviating roadway is characterized in that it comprises 77GHz millimeter wave radar device, CCD visual machine, Radar Signal Processing device, video processing module, Vehicular display device, sensor, Control Software and loud speaker; 77GHz millimeter wave radar device, the CCD visual machine, the Radar Signal Processing device, video processing module, Vehicular display device, sensor is connected by signal between Control Software and the loud speaker.
2, control device for preventing automobile from colliding and deviating roadway according to claim 1 is characterized in that described 77GHz millimeter wave radar device adopts the FMCW waveform and has the quasi-optical lens antenna of receiving and dispatching the double-fed source.
3, control device for preventing automobile from colliding and deviating roadway according to claim 1 is characterized in that described CCD visual machine is the near infrared black and white, and requiring pixel minimum is 300,000, per second 30 frame figure acquisition capacity. camera lens is 12mm.
4, control device for preventing automobile from colliding and deviating roadway according to claim 1 is characterized in that described sensor comprises 77GHz millimeter wave radar sensor, a preceding imageing sensor, two side wide-angle image sensors.
5, control device for preventing automobile from colliding and deviating roadway according to claim 1 is characterized in that described Control Software comprises initiatively to collide fuzzy prediction software and crashproof executive software.
CNA2009100396690A 2009-05-25 2009-05-25 Control device for preventing automobile from colliding and deviating roadway CN101585361A (en)

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Cited By (36)

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CN102290638A (en) * 2011-06-24 2011-12-21 北京理工大学 Anti-collision 77GHz millimeter wave radar antenna for automobile
CN102431553A (en) * 2011-10-18 2012-05-02 奇瑞汽车股份有限公司 Active safety system and method of vehicle
CN102431495A (en) * 2011-12-01 2012-05-02 北京理工大学 77GHz millimeter wave corner false-alarm inhibiting system for automobile active anticollision radar
CN102452396A (en) * 2010-10-20 2012-05-16 通用汽车环球科技运作有限责任公司 Vehicle collision avoidance and warning system
CN102765365A (en) * 2011-05-06 2012-11-07 香港生产力促进局 Pedestrian detection method based on machine vision and pedestrian anti-collision warning system based on machine vision
CN103235310A (en) * 2013-03-26 2013-08-07 北京理工雷科电子信息技术有限公司 Vehicular millimeter-wave train collision avoidance radar system
CN103496367A (en) * 2013-10-23 2014-01-08 惠州华阳通用电子有限公司 Method and device for detecting mistaken alarm of lane departure alarming
CN103718061A (en) * 2011-06-22 2014-04-09 罗伯特·博世有限公司 Improved driver assistance systems using radar and video
CN104176043A (en) * 2014-08-13 2014-12-03 芜湖航飞科技股份有限公司 Vehicle-mounted radar
CN104192144A (en) * 2014-07-25 2014-12-10 杭州电子科技大学 Automobile active anti-collision curve false-alarm eliminating method
CN104527638A (en) * 2014-12-03 2015-04-22 杭州奥腾电子有限公司 Curve false-alarm eliminating method and false-alarm eliminating device for active collision avoidance of automobile
CN105372665A (en) * 2014-08-27 2016-03-02 北京顶亮科技有限公司 Infrared millimeter-wave ranging device and method
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CN106405539A (en) * 2015-07-31 2017-02-15 株式会社万都 Vehicle radar system and method for removing non-interested target
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CN103718061A (en) * 2011-06-22 2014-04-09 罗伯特·博世有限公司 Improved driver assistance systems using radar and video
CN103718061B (en) * 2011-06-22 2017-04-19 罗伯特·博世有限公司 Improved driver assistance systems using radar and video
CN102290638B (en) * 2011-06-24 2013-12-11 北京理工大学 Anti-collision 77GHz millimeter wave radar antenna for automobile
CN102290638A (en) * 2011-06-24 2011-12-21 北京理工大学 Anti-collision 77GHz millimeter wave radar antenna for automobile
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CN102431495A (en) * 2011-12-01 2012-05-02 北京理工大学 77GHz millimeter wave corner false-alarm inhibiting system for automobile active anticollision radar
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US10761187B2 (en) 2018-04-11 2020-09-01 Infineon Technologies Ag Liquid detection using millimeter-wave radar sensor
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