CN102310830A - Radar device for preventing object fall and danger proximity for vehicle and control method - Google Patents
Radar device for preventing object fall and danger proximity for vehicle and control method Download PDFInfo
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- CN102310830A CN102310830A CN201110164106A CN201110164106A CN102310830A CN 102310830 A CN102310830 A CN 102310830A CN 201110164106 A CN201110164106 A CN 201110164106A CN 201110164106 A CN201110164106 A CN 201110164106A CN 102310830 A CN102310830 A CN 102310830A
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Abstract
The invention relates to a radar device for preventing object fall and danger proximity for a vehicle and a control method. The device mainly comprises a display 1, an alarm 2, a vehicle head radar 3, a controller 4, two side radars 5, a vehicle tail radar 6 and the like. During object fall or danger proximity in the vehicle, the radar device arranged on the vehicle detects the motion state and the position of a surrounding object of the vehicle, and the controller makes quick calculation and judgment and shows different display and alarm states. According to the detection device and the control method thereof, automatic induction alarm when the object falls from the vehicle during advancing can be realized, the object is prevented from falling in the transport process, and the economic loss is reduced; and the device can be used for realizing automatic alarm when the surrounding danger is close to the vehicle, and automatically taking corresponding measures to avoid collision between the vehicle and other danger so as to ensure the running safety.
Description
Technical field
The present invention relates to automatic electronic technology and dominant project field etc.; It more specifically is exactly a kind of automotive electronic technology; This anti-object falls and radar detection apparatus and the control method thereof of dangerous article near vehicle, can be used for fields such as automobile, train, steamer, construction machinery and equipment.
Background technology
The nearly more than ten years, the continuous development and prosperity of China's economy, the continuous increase of national express highway mileage; The continuous growth of freight traffic volume, being on the increase of transportation and communication, particularly high capacity waggon is after going for a long time; Because vehicle is constantly vibration in the process of moving, becoming flexible even coming off has appearred in the goods that causes originally fixing, if the vehicle flat-out acceleration is overtaken other vehicles or Reduced Speed Now; Goods will tumble from vehicle, adds that this moment, teamster was driven owing to long, feels exhausted; Be difficult to perceive goods and drop from vehicle, if this situation occurs in night or foggy weather, its low visibility; Chaufeur more difficulty is known, and such situation is much at national express highway, causes causing the certain economic loss.In addition, if the dangerous thing of vehicle both sides and afterbody near or vehicle during near these dangerous articles, adequate measures should in time found and take to vehicle, avoids and its collision, so that guarantee vehicle driving safety.
Therefore being necessary to design a kind of vehicle cargo of can in time finding falls the induction installation of car body and perception vehicle periphery dangerous article, to reduce the economic loss in the transportation, reaches guarantee driving safety.
Summary of the invention
First purpose of invention is to propose a kind of vehicle to fall the radar detection apparatus approaching with dangerous article with anti-object; Radar for vehicle was responded to automatically when this device can realize not only that object falls vehicle; Inform chaufeur, and can realize when dangerous article will or have the trend of collision vehicle the automatic driver of radar induction system; Make chaufeur understand vehicle-periphery, thereby improve the active safety of vehicle '.
Radar detection apparatus of the present invention comprises: telltale 1, annunciator 2, headstock radar 3, controller 4, both sides radar 5, tailstock radar 6 etc.; Described controller 4 links to each other with telltale 1, annunciator 2, headstock radar 3, both sides radar 5, tail radar 6 respectively; And this controller 4 can be connected the original control system of control signal and vehicle; The electronic control part signal can be compatible fully with the CAN and the ABS of vehicle itself, the traffic safety of support vehicles.
Described each Radar Design is the above FMCW millimeter wave radar of 30GH, has the location accurately, and the far measuring distance characteristics have the function of transmitting and receiving simultaneously, finds range continuously and shows obstacle distance; In order to guarantee the radar detection best results, should radar be installed in comparatively spacious position, the vehicle chassis visual field, to avoid the influence of installing space to radar performance.
Described annunciator can be according to the data of radar detection, require to show obstacle distance when radar is found range continuously, and adopt different intermittently toot make the audible alarm of frequency point out distance.
Described controller 4 comprises range finder module, control module, display alarm module, can handle the data of each radar and calculates, and corresponding data and signal is passed to the CAN and the ABS control module of display alarm module and vehicle thereof.
Second purpose of the present invention is the control method that proposes above-mentioned radar detection apparatus, and concrete detecting and control method is following:
1) the current moving velocity v through the detections of radar vehicle, and the state of kinematic motion and the position of object around the detection vehicle at any time comprise and survey distance, position, the angle that obtains object;
2) anti-object falls vehicle induction and control automatically;
A. when object when vehicle drops; Radar can detect the position and the orientation of object rapidly; And whether judgment object by being fallen thing on the vehicle, and criterion will satisfy three conditions, and one: the speed of its object is the resultant movement of current road speed of vehicle and object free-falling body; Two: to fall object more and more far away from the distance of vehicle itself; Three: the object that is detected is being that center radius is in the scope of R with the radar detector; Three kinds of conditions are indispensable;
B. be judged as after vehicle falls object,, remind chaufeur to note and take measures through showing and warning device informs that the chaufeur object falls;
3) dangerous article is near vehicle induction and control automatically;
A. in the vehicle ' process, utilize distance and the kinematic velocity of headstock radar detection vehicle front dangerous article, utilize the distance and the kinematic velocity of tailstock radar detection vehicle tail end dangerous article from vehicle from vehicle;
B. when dangerous article from vehicle location greater than S1 the time, give that chaufeur shows and alerting signal, show and inform the Position And Velocity of chaufeur dangerous article near vehicle;
C. show and alerting signal when dangerous article gives chaufeur during greater than S2 from vehicle location less than S1, show and inform the Position And Velocity of chaufeur dangerous article near vehicle;
D. the object when detection is the vehicle front object, and when leaving vehicle location less than S2, control part of the present invention transmits CAN bus and the ABS control system that signal is given vehicle itself, vehicle automatic emergency brake (wherein S1 is greater than S2);
E. when the object of surveying be the rear view of vehicle object, distance show the dangerous thing signal in rear, and the warning reminding chaufeur is noted distance and the speed of rear dangerous article near vehicle during less than S3;
F. when the distance of vehicle detection vehicle front dangerous article during less than S4; Calculate according to the road surface situation; Even if when adopting emergency braking also can't avoid object and vehicle to bump against; Warning will start highest level alarm form, and the passive safety system of automatically starting vehicle, protection occupant safety;
G. vehicle both sides radar radical function is to survey the perception vehicle to attend institute's loaded objects and whether fall situation, and the function that is had in addition is that the dangerous object of probe vehicles side is from the distance of vehicle with near speed.
Beneficial effect of the present invention: provide a kind of sense vehicle object automatically to fall and the radar detection apparatus and the control method of dangerous article around the detection vehicle; This device is simple and convenient reliable; Cost performance is high, and can be promptly and accurately inform with multi-form warning and signal is particularly suitable for use under night or severe weather conditions at the situation of chaufeur vehicle periphery; In time find that object falls vehicle and guarantees traffic safety, reduce economic loss that object falls and prevent vehicle collision accident.
Description of drawings:
Fig. 1 is that vehicle of the present invention falls radar detection apparatus and the control method structure principle chart thereof approaching with dangerous article with anti-object;
In the accompanying drawing: the radar 6-tailstock radar of 1-telltale 2-annunciator 3-headstock radar 4-controller 5-both sides
The specific embodiment:
Specify the present invention below in conjunction with specific embodiment and accompanying drawing.
As shown in Figure 1, a kind of vehicle with anti-object fall with dangerous article near radar installation and control method, mainly comprise telltale 1, annunciator 2, headstock radar 3, controller 4, both sides radar 5, tailstock radar 6 etc.
Described controller 4 links to each other with telltale 1, annunciator 2, headstock radar 3, both sides radar 5, tail radar 6 respectively; And this controller 4 can be connected the original control system of control signal and vehicle; The electronic control part signal can vehicle itself CAN and ABS compatible fully, the traffic safety of support vehicles.
Described each Radar Design is the above FMCW millimeter wave radar of 30GH; In the vehicle ' process; The state and the position of object around the continuous detection vehicle of radar; Through controller promptly and accurately calculate corresponding data, and show and alerting driver vehicle periphery situation with different forms, set by step this contrive equipment is implemented analysis below:
1) the current moving velocity v through the detections of radar vehicle, and the state of kinematic motion and the position of object around the detection vehicle at any time comprise and survey distance, position, the angle that obtains object;
2) anti-object falls vehicle induction and control automatically;
A. when object when vehicle drops; Radar can detect the position and the orientation of object rapidly; And whether judgment object by being fallen thing on the vehicle, and criterion will satisfy three conditions, and one: the speed of its object is the resultant movement of current road speed of vehicle and object free-falling body; Two: to fall object more and more far away from the distance of vehicle itself; Three: the object that is detected is being that center radius is in the scope of R with the radar detector; Three kinds of conditions are indispensable;
B. be judged as after vehicle falls object,, remind chaufeur to note and take measures through showing and warning device informs that the chaufeur object falls;
3) dangerous article is near vehicle induction and control automatically;
A. in the vehicle ' process, utilize distance and the kinematic velocity of headstock radar detection vehicle front dangerous article, utilize the distance and the kinematic velocity of tailstock radar detection vehicle tail end dangerous article from vehicle from vehicle;
B. when dangerous article from vehicle location greater than S1 the time, give that chaufeur shows and alerting signal, show and inform the Position And Velocity of chaufeur dangerous article near vehicle;
C. show and alerting signal when dangerous article gives chaufeur during greater than S2 from vehicle location less than S1, show and inform the Position And Velocity of chaufeur dangerous article near vehicle;
D. the object when detection is the vehicle front object, and when leaving vehicle location less than S2, control part of the present invention transmits CAN bus and the ABS control system that signal is given vehicle itself, vehicle automatic emergency brake (wherein S1 is greater than S2);
E. when the object of surveying be the rear view of vehicle object, distance show the dangerous thing signal in rear, and the warning reminding chaufeur is noted distance and the speed of rear dangerous article near vehicle during less than S3;
F. when the distance of vehicle detection vehicle front dangerous article during less than S4; Calculate according to the road surface situation; Even if when adopting emergency braking also can't avoid object and vehicle to bump against; Warning will start highest level alarm form, and the passive safety system of automatically starting vehicle, protection occupant safety;
G. vehicle both sides radar radical function is to survey the perception vehicle to attend institute's loaded objects and whether fall situation, and the function that is had in addition is that the dangerous object of probe vehicles side is from the distance of vehicle with near speed.
Claims (5)
- A vehicle with anti-object fall with dangerous article near radar installation and control method, it is characterized in that this installs mainly by forming with the lower part: read-out, annunciator, headstock radar, controller, both sides radar, tailstock radar etc.; Its middle controller links to each other with telltale, annunciator, headstock radar, both sides radar and tailstock radar respectively.
- 2. a kind of vehicle according to claim 1 with anti-object fall with dangerous article near radar installation and control method; It is characterized in that assembly telltale, annunciator and controller, to be installed in vehicular drive indoor; Wherein the installation site of telltale and annunciator in the control of chaufeur and within sweep of the eye, and ergonomic layout; The both sides radar is installed on the vehicle chassis of vehicle both sides; Its position plane and chassis plane parallel, two planes do not receive vehicle chassis and the tire obstruction to the visual field at a distance of suitable parallel distance when guaranteeing its detection; It installs quantity can be one of every side, also can be 2 ~ 5 of every sides; Headstock radar 3 is installed in the front end of vehicle chassis, is as the criterion not influence radar detection, and it installs quantity can be 1 ~ 3; Tailstock radar 6 is installed on the vehicle tail end chassis, and it installs quantity can be 1 ~ 3.
- 3. a kind of vehicle according to claim 1 with anti-object fall with dangerous article near radar installation and control method, it is characterized in that described radar detection apparatus prevents that object from falling vehicle and dangerous article is following near the control method of vehicle:1) the current moving velocity v through the detections of radar vehicle, and the state of kinematic motion and the position of object around the detection vehicle at any time comprise and survey distance, position, the angle that obtains object;2) anti-object falls vehicle induction and control automatically;A. when object when vehicle drops; Radar can detect the position and the orientation of object rapidly; And whether judgment object by being fallen thing on the vehicle, and criterion will satisfy three conditions, and one: the speed of its object is the resultant movement of current road speed of vehicle and object free-falling body; Two: to fall object more and more far away from the distance of vehicle itself; Three: the object that is detected is being that center radius is in the scope of R with the radar detector; Three kinds of conditions are indispensable;B. be judged as after vehicle falls object,, remind chaufeur to note and take measures through showing and warning device informs that the chaufeur object falls;3) dangerous article is near vehicle induction and control automatically;A. in the vehicle ' process, utilize distance and the kinematic velocity of headstock radar detection vehicle front dangerous article, utilize the distance and the kinematic velocity of tailstock radar detection vehicle tail end dangerous article from vehicle from vehicle;B. when dangerous article from vehicle location greater than S1 the time, give that chaufeur shows and alerting signal, show and inform the Position And Velocity of chaufeur dangerous article near vehicle;C. show and alerting signal when dangerous article gives chaufeur during greater than S2 from vehicle location less than S1, show and inform the Position And Velocity of chaufeur dangerous article near vehicle;D. the object when detection is the vehicle front object, and when leaving vehicle location less than S2, control part of the present invention transmits CAN bus and the ABS control system that signal is given vehicle itself, vehicle automatic emergency brake (wherein S1 is greater than S2);E. when the object of surveying be the rear view of vehicle object, distance show the dangerous thing signal in rear, and the warning reminding chaufeur is noted distance and the speed of rear dangerous article near vehicle during less than S3;F. when the distance of vehicle detection vehicle front dangerous article during less than S4; Calculate according to the road surface situation; Even if when adopting emergency braking also can't avoid object and vehicle to bump against; Warning will start highest level alarm form, and the passive safety system of automatically starting vehicle, protection occupant safety;G. vehicle both sides radar radical function is to survey the perception vehicle to attend institute's loaded objects and whether fall situation, and the function that is had in addition is that the dangerous object of probe vehicles side is from the distance of vehicle with near speed.
- 4. a kind of vehicle according to claim 1 with anti-object fall with dangerous article near radar installation and control method, CAN and the ABS that it is characterized in that described controller 4 and vehicle itself be compatibility fully, the traffic safety of support vehicles.
- 5. a kind of vehicle according to claim 1 with anti-object fall with dangerous article near radar installation and control method, it is characterized in that described radar sensor has protective case, prevents the infringement that harsh environment causes radar system in the vehicle ' process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201110164106A CN102310830A (en) | 2011-06-18 | 2011-06-18 | Radar device for preventing object fall and danger proximity for vehicle and control method |
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| CN201110164106A CN102310830A (en) | 2011-06-18 | 2011-06-18 | Radar device for preventing object fall and danger proximity for vehicle and control method |
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| CN102310830A true CN102310830A (en) | 2012-01-11 |
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| CN201110164106A Pending CN102310830A (en) | 2011-06-18 | 2011-06-18 | Radar device for preventing object fall and danger proximity for vehicle and control method |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103273880A (en) * | 2013-05-23 | 2013-09-04 | 无锡伊佩克科技有限公司 | System capable of preventing truck goods from dropping |
| CN104050772A (en) * | 2014-06-30 | 2014-09-17 | 广西大学 | Valuable goods dumping protective system based on Internet of Things technology |
| CN104062966A (en) * | 2013-03-20 | 2014-09-24 | 博世汽车部件(苏州)有限公司 | Verification method used for automatic emergency braking system and corresponding verification system |
| CN105480184A (en) * | 2015-12-28 | 2016-04-13 | 南京航空航天大学 | Protection mechanism for lateral impact of vehicle and control method thereof |
| CN107697195A (en) * | 2017-10-17 | 2018-02-16 | 无锡博尔睿科技有限公司 | Electric car safe driving radar |
| CN109466445A (en) * | 2018-11-23 | 2019-03-15 | 江苏徐工工程机械研究院有限公司 | A kind of vehicle tumbles the detection system and detection method of material |
| CN109830105A (en) * | 2019-03-18 | 2019-05-31 | 中国安全生产科学研究院 | A kind of device and method preventing the fixed danger of vehicle collision trackside |
| CN112721925A (en) * | 2021-01-13 | 2021-04-30 | 宝能(西安)汽车研究院有限公司 | Intelligent driving system |
| CN113646819A (en) * | 2019-03-29 | 2021-11-12 | 五十铃自动车株式会社 | Transportation management device and transportation management method |
-
2011
- 2011-06-18 CN CN201110164106A patent/CN102310830A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104062966A (en) * | 2013-03-20 | 2014-09-24 | 博世汽车部件(苏州)有限公司 | Verification method used for automatic emergency braking system and corresponding verification system |
| CN104062966B (en) * | 2013-03-20 | 2016-12-28 | 博世汽车部件(苏州)有限公司 | For the verification method of automatic emergency brake system and verify system accordingly |
| CN103273880A (en) * | 2013-05-23 | 2013-09-04 | 无锡伊佩克科技有限公司 | System capable of preventing truck goods from dropping |
| CN104050772A (en) * | 2014-06-30 | 2014-09-17 | 广西大学 | Valuable goods dumping protective system based on Internet of Things technology |
| CN105480184A (en) * | 2015-12-28 | 2016-04-13 | 南京航空航天大学 | Protection mechanism for lateral impact of vehicle and control method thereof |
| CN107697195A (en) * | 2017-10-17 | 2018-02-16 | 无锡博尔睿科技有限公司 | Electric car safe driving radar |
| CN109466445A (en) * | 2018-11-23 | 2019-03-15 | 江苏徐工工程机械研究院有限公司 | A kind of vehicle tumbles the detection system and detection method of material |
| CN109830105A (en) * | 2019-03-18 | 2019-05-31 | 中国安全生产科学研究院 | A kind of device and method preventing the fixed danger of vehicle collision trackside |
| CN113646819A (en) * | 2019-03-29 | 2021-11-12 | 五十铃自动车株式会社 | Transportation management device and transportation management method |
| CN112721925A (en) * | 2021-01-13 | 2021-04-30 | 宝能(西安)汽车研究院有限公司 | Intelligent driving system |
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Application publication date: 20120111 |