CN102141621B - Method for positioning sensor of serial structural hostless parking radar system - Google Patents
Method for positioning sensor of serial structural hostless parking radar system Download PDFInfo
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Abstract
The invention discloses a method for positioning sensors of a serial structural hostless parking radar system, comprising the following steps: A, assembling one serial structural hostless parking radar system, namely connecting multiple sensors by virtue of an internal network in series and driving an alarm to give an alarm by the sensor at the end part; B, determining the initial sensor and allocating the ID (identity) of the initial sensor, namely connecting by virtue of wiring hardness of the sensor at the end part and automatically identifying the initial sensor; and C, sequentially determining other sensors and allocating the IDs of the other sensors, namely automatically identifying a second sensor connected with the initial sensor by virtue of the internal network on the basis that the initial sensor is taken as a main node, and allocating the ID of the second sensor; and sequentially allocating the ID of a third sensor connected with the second sensor on the basis that the initial sensor is taken as the main node, and allocating the IDs of the other sensors in a regular turn. By applying the method disclosed by the invention, single-part number supply and free assembling in an automobile factory can be realized, and the effect of simple and convenient positioning can be achieved.
Description
Technical field
The present invention relates to parking assisting system field, relate to a kind of sensor localization method of cascaded structure host-free parking radar system in particular.
Background technology
As shown in Figure 1, traditional parking radar system generally comprises control enclosure, multiple sensor and at least one reminiscences, the plurality of sensor is connected with control enclosure respectively, and mutual co-ordination under the control of control enclosure, wherein each sensor respectively obstruction detection data and be all transferred to control enclosure process, this control enclosure analyzes above-mentioned data and the distance of disturbance in judgement thing, and when obstacle distance does not meet predetermined condition, this control enclosure reminder announced device is also reported to the police.The plurality of sensor is because work requirements all needs to be laid in outside the vehicle body of automobile, and such as, on front/rear collision bumper, this control enclosure then needs to be located in car.Because the sensor number used can reach about 4 usually; and need to keep at a certain distance away laying; therefore the Signal transmissions between sensor and control enclosure and power feed etc. can be caused very complicated, and it not only can increase line cost, and long data line also easily causes interference.
For the problems referred to above, people have developed the reverse radar system of off pattern, its a kind of pattern is integrated in by main frame in one of them sensor and main sensor, connect between whole system, adopt respectively from main sensor lead-in wire to the mode from sensor, though it can solve orientation problem, along with train sensors number increases, this main sensor connector becomes very complicated by because of the increase on line, therefore it only exists theoretic feasibility, practice is difficult to; Another kind of pattern is that electric power loop is independent, each sensor connection is in parallel, this kind of scheme cannot solve the automatic orientation problem of sensor, barrier orientation can not be reported, or adopt address programmable device to programme before depot's production line is reached the standard grade, actual being difficult to is accepted by depot, and after-sales service replacing also exists a fixation and recognition difficult problem.
In view of this, the present inventor, for the above-mentioned defect further investigation of existing host-free parking radar system sensor localization method, has this case to produce then.
Summary of the invention
The object of the present invention is to provide a kind of sensor localization method of cascaded structure host-free parking radar system, to solve the host-free parking radar system problem that main sensor connector line is very complicated and automatic location is loaded down with trivial details when sensor number increases in prior art.
In order to reach above-mentioned purpose, solution of the present invention is:
A sensor localization method for cascaded structure host-free parking radar system, wherein, comprises the steps:
A, be assembled into cascaded structure host-free parking radar system: be connected by internal network serial connection by multiple sensor, the sensor of end drives alarm equipment alarm;
B, determine starting point sensor and configure its ID: relying on end sensor wire harness to connect, automatically identify starting point sensor;
C, determine all the other sensors and configure its ID successively: with starting point sensor for host node, and automatically identified the second sensor be connected with starting point sensor by internal network, and configure the ID of the second sensor; Then again with starting point sensor for host node, and configure the ID of the 3rd sensor be connected with the second sensor successively, and the rest may be inferred sequentially configures the ID of all the other sensors.
Further, this each sensor includes microprocessor and communication module, this communication module comprises the first interface module, the second interface module and the analog switch that are all connected with microprocessor, this first interface module and the second interface module form the first terminal and the second terminal respectively to outer extraction, this analog switch to be connected between this first terminal and the second terminal and can make via microprocessor-based control the first terminal and the second terminal information interconnected; The first terminal of this each sensor is all connected with the second terminal of adjacent sensor by internal network and forms cascaded structure and realize the transmission of range information, and warning message is then passed to alarm by external network by the first terminal or the second terminal that are positioned at the sensor of end.
Further, in step C, this starting point sensor has configured the ID of a sensor by internal network after, this sensor completing ID configuration can notify the success of starting point sensor configurations by internal network, and then this sensor completing ID configuration closes the analog switch of its inside and makes next sensor carry out communication by internal network and starting point sensor.
Further, this external network is also connected with for carrying out the bus module of exchanges data with sensor.
Further, this internal network is mongline two-way communication.
Further, this external network adopts LIN bus or CAN to build.
After adopting said structure, the sensor localization method of a kind of cascaded structure host-free parking radar system that the present invention relates to, it at least has following beneficial effect:
One, the present invention adopts according to physical connection configuration ID gradually, thus has the easy effect of allocation plan; Simultaneously because targeting scheme of the present invention is that physically based deformation connection realizes, namely it is the configuration just sensor being carried out to ID value after by multiple sensor installation, the problem of by mistake installing after positioning can not be deposited thus, simultaneously due to each sensor, before location, its inner structure and software are arranged is all the same, therefore freely assembling of the single component number supply of material and automobile factory can be realized, and when it needs repairing replacing, reorientate because it can be set to power at every turn, therefore when after-sales service is changed, also there is very high convenience;
Two, the present invention is when sensor and sensor number increase, and it only needs newly-increased sensor to be serially connected in be positioned on the sensor of end, namely completes assembling; And it is when sensor is located, then can by step C sequentially configuration ID technology and newly-increased sensor is positioned, it also has simple and easy effect thus.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of traditional parking radar system;
Fig. 2 is the structured flowchart that the present invention relates to host-free parking radar system;
Fig. 3 is the inner structure block diagram of each sensor in Fig. 2;
Fig. 4 is the circuit diagram of each sensor in Fig. 2;
Fig. 5 is the structural representation of the present invention when configuring the first sensor ID;
Fig. 6 is the structural representation of the present invention when configuring the second sensor ID;
Fig. 7 is the structural representation of the present invention when configuring the 3rd sensor ID;
Fig. 8 is the structural representation of the present invention when configuring the 4th sensor ID.
In figure:
Host-free parking radar system 100
Sensor 1 microprocessor 11
Communication module 12 first interface module 121
Second interface module 122 analog switch 123
The first terminal 124 second terminal 125
Ultrasonic sensor 13 drives sending module 14
Ultrasound wave receiver module 15 power module 16
First sensor 1a second sensor 1b
3rd sensor 1c the 4th sensor 1d
Alarm 2 internal network 3
External network 4 bus module 5
Control enclosure 81 sensor 82
Reminiscences 83.
Embodiment
In order to explain technical scheme of the present invention further, below by specific embodiment, the present invention will be described in detail.
As shown in Figures 2 to 4, a kind of host-free parking radar system 100 for the present invention's application shown in it, it has multiple sensor 1, at least one alarm 2, internal network 3 and external network 4, this internal network 3 is between multiple sensor 1 and realize internal communication between multiple sensor 1, and this external network 4 is for connecting one of them sensor 1 and alarm 2, wherein, this each sensor 1 includes microprocessor 11, communication module 12, ultrasonic sensor 13 and the driving sending module 14 be arranged between microprocessor 11 and ultrasonic sensor 13 and ultrasound wave receiver module 15, this microprocessor 11 is control core, and it produces ultrasonic pulse by work tempo voluntarily, and amplifies rear drive ultrasonic sensor 13 send ultrasound wave through this driving sending module 14, this ultrasonic sensor 13 also receives return signal simultaneously, and is delivered to microprocessor 11 by after the process of ultrasound wave receiver module 15 amplification filtering, and this microprocessor 11 processes and acquired disturbance thing range information by analysis, thus, the range information that all obtains between itself and barrier by the microprocessor 11 of its inside of this each sensor 1, this communication module 12 comprises the first interface module 121 be all connected with microprocessor 11, second interface module 122 and analog switch 123, this first interface module 121 and the second interface module 122 form the first terminal 124 and the second terminal 125 respectively to outer extraction, this analog switch 123 is connected between this first terminal 124 and second terminal 125 also can present via the control of microprocessor 11 state opened or closed, when it is closed condition, the interconnected state of information is rendered as between this first terminal 124 and second terminal 125, the interconnected hardware that specifically can adopt of this information is communicated with, the mode that software also can be adopted to be communicated with (simulation is communicated with) realizes.The first terminal 124 of this each sensor 1 is all connected with the second terminal 125 of adjacent sensor 1 by internal network 3 and forms cascaded structure and realize the transmission of range information, and the first terminal 124 or the second terminal 125 that are positioned at the sensor of end are connected with alarm 2 by external network 4 and warning message is passed to alarm 2.Wherein also comprise the power module 16 for providing power supply in this each sensor, be also configured with bus module 5 in this external network 4, this internal network is mongline two-way communication, and this external network then adopts LIN bus or CAN to build; This external network is also connected with for carrying out the bus module 5 of exchanges data with sensor, and this bus module 5 specifically can select LIN bus and CAN, also can be Body Control center, can also drive alarm equipment alarm by this bus module 5; Concrete, in the present embodiment, the plurality of sensor 1 comprises four of being disposed on bumper, is namely called the first sensor 1a, the second sensor 1b, the 3rd sensor 1c and the 4th sensor 1d, and this first sensor 1a is connected with external network 4 namely as starting point sensor; And this external network 4 and internal network 3 all can adopt LIN bus to build.
Below to the sensor localization method of a kind of cascaded structure host-free parking radar system that the present invention relates to, it specifically comprises the steps:
A, be assembled into cascaded structure host-free parking radar system: be connected in series connected by multiple sensor by internal network 3, and the sensor being positioned at end is driven alarm equipment alarm, concrete its can Direct driver alarm equipment alarm, can also be connected with bus module 5 by external network 4, and under the control of bus module 5, drive alarm equipment alarm, the host-free parking radar system that namely formation one is complete;
B, determine starting point sensor and configure its ID: relying on end sensor wire harness to connect, automatically identify starting point sensor; In the present embodiment, with bus module 5 for host node, and automatically identify by external network 4 the end sensor being positioned at whole host-free parking radar system, and this end sensor is defined as starting point sensor;
C, determine all the other sensors and configure its ID successively: with starting point sensor for host node, and automatically identify by internal network 3 the second sensor 1b be connected with starting point sensor, and configure the ID of the second sensor 1b; Then again with starting point sensor for host node, and configure the ID of the 3rd sensor 1c be connected with the second sensor 1b successively, and the rest may be inferred sequentially configures the ID of all the other sensors, the ID that they can be different according to sensor thus, and distinguish its concrete installation site.
Preferably, in step C, this starting point sensor is by internal network 3 after having configured the ID of a sensor, this sensor completing ID configuration can notify the success of starting point sensor configurations by internal network 3, and then this sensor completing ID configuration closes the analog switch of its inside and makes next sensor carry out communication by internal network 3 and starting point sensor.
Like this, the present invention adopts according to physical connection configuration ID gradually, thus has the easy effect of allocation plan; Simultaneously because targeting scheme of the present invention is that physically based deformation connection realizes, namely it is the configuration just sensor being carried out to ID value after by multiple sensor installation, the problem of by mistake installing after positioning can not be deposited thus, simultaneously due to each sensor, before location, its inner structure and software are arranged is all the same, therefore freely assembling of the single component number supply of material and automobile factory can be realized, and when it needs repairing replacing, reorientate because it can be set to power at every turn, therefore when after-sales service is changed, also there is very high convenience; And the present invention is when sensor and sensor number increase, it only needs newly-increased sensor to be serially connected in be positioned on the sensor of end, namely completes assembling; And it is when sensor is located, then can by step C sequentially configuration ID technology and newly-increased sensor is positioned, it also has simple and easy effect thus.
Below in conjunction with Fig. 5 to Fig. 8, the concrete position fixing process that the present invention is applied in above-mentioned preferred embodiment is described:
As shown in Figure 5, namely this bus module 5 as host node, and is positioned the first sensor 1a by external network 4 by the connection on system wire harness, and the ID of configuration is 1; It should be noted that, in the present embodiment, the Shi Junhui that at every turn powers on locates automatically;
As shown in Figure 6, this first sensor 1a as host node, and is configured the ID of the second sensor 1b by internal network 3, and the ID of the second sensor 1b is revised as ID=2 by ID=0; After this second sensor 1b completes amendment, then can notify the first sensor 1a configuration successful by internal network 3, then this second sensor 1b then can close analog switch;
As shown in Figure 7, this first sensor 1a is as host node, and by internal network 3, the ID of the 3rd sensor 1c is configured (now because the analog switch of this second sensor 1b is in cutting out shape), and the ID of the 3rd sensor 1c is revised as ID=3 by ID=0; After the 3rd sensor 1c completes amendment, then can notify the first sensor 1a configuration successful by internal network 3, then the 3rd sensor 1c then can close analog switch;
As shown in Figure 8, this first sensor 1a as host node, and is configured (now because the analog switch of this second sensor 1b and the 3rd sensor 1c is all in cut out shape) by internal network 3 to the ID of the 4th sensor 1d and is had by the ID of the 4th sensor 1d ID=0 to be revised as ID=4; After the 4th sensor 1d completes amendment, then can notify the first sensor 1a configuration successful by internal network 3.
Above-described embodiment and graphic and non-limiting product form of the present invention and style, any person of an ordinary skill in the technical field, to its suitable change done or modification, all should be considered as not departing from patent category of the present invention.
Claims (6)
1. a sensor localization method for cascaded structure host-free parking radar system, is characterized in that, comprise the steps:
A, be assembled into cascaded structure host-free parking radar system: be connected by internal network serial connection by multiple sensor, the sensor of end drives alarm equipment alarm;
B, determine starting point sensor and configure its ID: relying on end sensor wire harness to connect, automatically identify starting point sensor;
C, determine all the other sensors and configure its ID successively: with starting point sensor for host node, and automatically identified the second sensor be connected with starting point sensor by internal network, and configure the ID of the second sensor; Then again with starting point sensor for host node, and configure the ID of the 3rd sensor be connected with the second sensor successively, and the rest may be inferred sequentially configures the ID of all the other sensors.
2. the sensor localization method of a kind of cascaded structure host-free parking radar system as claimed in claim 1, it is characterized in that, each sensor includes microprocessor and communication module, this communication module comprises the first interface module, the second interface module and the analog switch that are all connected with microprocessor, this first interface module and the second interface module form the first terminal and the second terminal respectively to outer extraction, this analog switch to be connected between this first terminal and the second terminal and can make via microprocessor-based control the first terminal and the second terminal information interconnected; The first terminal of this each sensor is all connected with the second terminal of adjacent sensor by internal network and forms cascaded structure and realize the transmission of range information, and warning message is then passed to alarm by external network by the first terminal or the second terminal that are positioned at the sensor of end.
3. the sensor localization method of a kind of cascaded structure host-free parking radar system as claimed in claim 2, it is characterized in that, in step C, this starting point sensor has configured the ID of a sensor by internal network after, this sensor completing ID configuration is by the success of internal network notice starting point sensor configurations, and then this sensor completing ID configuration closes the analog switch of its inside and makes next sensor carry out communication by internal network and starting point sensor.
4. the sensor localization method of a kind of cascaded structure host-free parking radar system as claimed in claim 2, is characterized in that, this external network is also connected with for carrying out the bus module of exchanges data with sensor.
5. the sensor localization method of a kind of cascaded structure host-free parking radar system as claimed in claim 1, it is characterized in that, this internal network is mongline two-way communication.
6. the sensor localization method of a kind of cascaded structure host-free parking radar system as claimed in claim 2, is characterized in that, this external network adopts LIN bus or CAN to build.
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| CN102608610A (en) * | 2012-03-19 | 2012-07-25 | 深圳市拓邦汽车电子技术有限公司 | Digital active reversing radar and control method thereof |
| CN103995254B (en) * | 2014-05-14 | 2016-10-05 | 林海明 | A kind of can quickly the parking radar digital probe module of positioning probe ID and ID localization method thereof |
| CN104181541A (en) * | 2014-09-11 | 2014-12-03 | 合肥晟泰克汽车电子有限公司 | Hostless parking sensor system |
| US20180150083A1 (en) * | 2016-11-29 | 2018-05-31 | Waymo Llc | Pod connection for Autonomous Vehicle Sensors |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101553774A (en) * | 2006-12-07 | 2009-10-07 | 艾勒博科技股份有限公司 | Sensor device and method of operating the same |
| CN101726739A (en) * | 2009-11-20 | 2010-06-09 | 柯文河 | Host-free parking auxiliary system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101553774A (en) * | 2006-12-07 | 2009-10-07 | 艾勒博科技股份有限公司 | Sensor device and method of operating the same |
| CN101726739A (en) * | 2009-11-20 | 2010-06-09 | 柯文河 | Host-free parking auxiliary system |
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