CN103675827A - Vehicle-mounted radar detection virtual panorama system - Google Patents
Vehicle-mounted radar detection virtual panorama system Download PDFInfo
- Publication number
- CN103675827A CN103675827A CN201310578168.6A CN201310578168A CN103675827A CN 103675827 A CN103675827 A CN 103675827A CN 201310578168 A CN201310578168 A CN 201310578168A CN 103675827 A CN103675827 A CN 103675827A
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- China
- Prior art keywords
- barrier
- ultrasonic sensing
- vehicle
- mounted radar
- trailer
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
Abstract
Provided is a vehicle-mounted radar detection virtual panorama system. The system is provided with multiple supersonic sensors which surround a vehicle body for 360 degrees and are internally arranged on the vehicle body. Signals of the supersonic sensors are transmitted to a controller which is connected with a displayer. The controller calculates variations of relative positions of obstacles in a surveying and mapping way and virtualizes a panoramic image of the relative positions of the obstacles to the vehicle and then the reconstructed virtual panoramic image is transmitted to the displayer to display. When the system is in a stationary state, the state of the obstacles at the front end and the rear end of the vehicle is provided. When the vehicle is driven at a low speed (driving speed is lower than 50km/h) state, the surrounding obstacles can be continuously scanned and sensed via the supersonic sensors so that the panorama of the surrounding obstacles can be surveyed and mapped and virtualized according to the variations of the relative positions of the obstacles within each time interval. When the vehicle is stopped from the driving state, memory of the positions of the surrounding obstacles can be stored by the system. When the vehicle is started again, the stored result is displayed.
Description
[technical field]
The present invention relates to vehicle-mounted detection, radar mapping obstacle system, relate in particular on the basis of application radar detection barrier prompting, virtual panoramic is seen the detection system showing.
[background technology]
Existing radar for backing car just starts and surveys in automobile suspension reverse gear, is generally to survey rear obstacle by ultrasonic probe, then, according to the far and near degree of barrier, by loudspeaker, sound, and prompting or early warning.When barrier is far away, send slow " ticking " sound, and travel along with continuing, barrier is more and more nearer and send rapid " ticking " sound, reminds that driver is careful to be retreated or stop retreating.
Existing radar for backing car cannot provide peripheral vehicle panorama state, and only has pair prompting of the barrier at vehicle body rear, warning.Luxury car can show car rear real-time pictures when reversing, is to adopt post-positioned pick-up head take and show on vehicle-mounted screen, to assist driver to grasp vehicle body rear obstacle, parking stall situation, completes smoothly reversing.At present, there is no Vehicular radar system and can set up virtual panorama and show, and when car stops, preserving stop before last Obstacle Position, instant playback when next automobile starting.
[summary of the invention]
The present invention is directed to above situation and proposed a kind of trailer-mounted radar detecting visual panorama system, this system is utilized ultrasonic sensing device, trailer-mounted radar, surveys the also panorama state of virtual periphery scenery; And can when stopping, preserving result of detection, in upper instant playback while once starting.
Trailer-mounted radar detecting visual panorama system involved in the present invention, this system comprises a plurality of ultrasonic sensing devices, controller, display, wherein a plurality of ultrasonic sensing devices are built on car body around 360 ° of car bodies, and its signal transfers to controller, controller connects display, this controller comprises speed per hour collecting unit, relative position contrast unit, ultrasonic sensing feedback unit and virtual screen reconstruction unit, and wherein this ultrasonic sensing feedback unit receives the signal of ultrasonic sensing device, and record; And speed per hour collecting unit is linked into automotive system, Real-time Obtaining automobile driving speed, this speed per hour collecting unit and ultrasonic sensing feedback unit output terminal are linked into respectively two information input terminals of relative position contrast unit, in this relative position contrast unit, carry out the mapping of barrier relative position variation and calculate; This virtual screen reconstruction unit, according to the result of calculation of relative position contrast unit, fictionalizes the panorama sketch of the relative automobile position of barrier; Controller connects display by this virtual screen reconstruction unit, and the virtual panoramic figure of reconstruction is transferred to display demonstration.
This trailer-mounted radar detecting visual panorama system also comprises loudspeaker, and this loudspeaker is connected with controller.
This loudspeaker, to obstacle distance, is distinguished prompting, within the scope of barrier enters into apart from car body 150cm, sends slow prompt tone; Barrier enters into apart within the scope of car body 100cm, sends rapid prompt tone; Within the scope of barrier enters into apart from car body 50cm, send yowl prompt tone.
to the differentiation of setting the range criterion of prompting, can adjust and set according to actual conditions.
The plurality of ultrasonic sensing device number is 6-18, in body structure, rear end, two sides, is all provided with this ultrasonic sensing device.
The demonstration of this display to virtual panoramic, carry out subregion demonstration, with barrier closely, represent that barrier is within the scope of apart from car body 0～50cm, with middle distance barrier, represent that barrier is within the scope of apart from car body 50～100cm, with long-distance barrier district, represent that barrier is in apart from the above scope of car body 100cm; With different define colors, show respectively closely barrier, middle distance barrier and long-distance barrier district.
to near, in, the setting of the distance car body in long-distance barrier district can adjust as the case may be, office not be limited to the scope of explaining herein.
With redness, show closely barrier district, with yellow, show middle distance barrier district, with green, show long-distance barrier thing district.
This system, in stationary state, provides the barrier state of car front end, rear end.Vehicle is when low speed (travel speed lower than 50 kilometers/time) transport condition, can be by ultrasonic sensing device to the continuous sweep of periphery barrier, induction, within each interval time, the relative position of barrier changes, thereby surveys and draws, fictionalizes periphery barrier panorama.When vehicle stops from driving to, this system can be preserved the position memory to periphery barrier, when vehicle starts again, in system detectable area, carries out the renewal of state; For the both sides of detectable area, especially vehicle not, do not carry out state renewal, but directly show the state that stops front preservation.With this, complete demonstration.
[accompanying drawing explanation]
Fig. 1 is trailer-mounted radar detecting visual panorama system structured flowchart of the present invention;
Fig. 2 is the super ripple inductor of the 8 passage arrangenent diagram of trailer-mounted radar detecting visual panorama system of the present invention;
Fig. 3 is the super ripple inductor of the 10 passage arrangenent diagram of trailer-mounted radar detecting visual panorama system of the present invention;
Fig. 4 is the super ripple inductor of the 16 passage arrangenent diagram of trailer-mounted radar detecting visual panorama system of the present invention;
Fig. 5 is the demonstration situation of trailer-mounted radar detecting visual panorama system display of the present invention to virtual panoramic;
Wherein: 100, vehicle body; 101, barrier closely; 102, middle distance barrier; 103, long-distance barrier district; 10, ultrasonic sensing device; 20, controller; 21, speed per hour collecting unit; 22, relative position contrast unit; 23, ultrasonic sensing feedback unit; 24, virtual screen reconstruction unit; 30, display;
[embodiment]
Below in conjunction with the drawings and specific embodiments of the present invention, trailer-mounted radar detecting visual panorama system of the present invention is described in further detail.
Please refer to accompanying drawing 1, wherein show the outside figure of trailer-mounted radar detecting visual panorama system, this entire system is applied on automobile, as automobile servicing unit, uses.This system comprises a plurality of ultrasonic sensing devices 10, controller 20, display 30, wherein a plurality of ultrasonic sensing devices 10 are built on car body around 360 ° of car bodies, its signal transfers to controller 20, and controller 20 connects display 30, and this controller 20 comprises speed per hour collecting unit 21, relative position contrast unit 22, ultrasonic sensing feedback unit 23 and virtual screen reconstruction unit 24, wherein this ultrasonic sensing feedback unit 23 receives the signal of ultrasonic sensing device 10, and record; And speed per hour collecting unit 21 is linked into automotive system, Real-time Obtaining automobile driving speed, this speed per hour collecting unit 21 and ultrasonic sensing feedback unit 23 output terminals are linked into respectively two information input terminals of relative position contrast unit 22, in this relative position contrast unit 22, carry out the mapping of barrier relative position variation and calculate; This virtual screen reconstruction unit 24, according to the result of calculation of relative position contrast unit 22, fictionalizes the panorama sketch of the relative automobile position of barrier; Controller connects display by this virtual screen reconstruction unit, and the virtual panoramic figure of reconstruction is transferred to display demonstration.
This trailer-mounted radar detecting visual panorama system also comprises loudspeaker, and this loudspeaker is connected with controller.Loudspeaker can coordinate display to point out early warning to barrier.
This loudspeaker, to obstacle distance, is distinguished prompting, within the scope of barrier enters into apart from car body 150cm, sends slow prompt tone; Barrier enters into apart within the scope of car body 100cm, sends rapid prompt tone; Within the scope of barrier enters into apart from car body 50cm, send yowl prompt tone.
The plurality of ultrasonic sensing device number is 6-18, in body structure, rear end, two sides, is all provided with this ultrasonic sensing device.Please refer to accompanying drawing 2, wherein show the distribution plan of ultrasonic sensing device on vehicle body 100,8 ultrasonic sensing devices 10 have distributed on this car body, and figure 3 illustrates the distribution plan of 10 the ultrasonic sensing devices 10 that distributed on vehicle body, Fig. 4 shows the distribution plan of 16 the ultrasonic sensing devices 10 that distributed on vehicle body.
Please refer to accompanying drawing 5: wherein show the demonstration situation of display to virtual panoramic, display carries out subregion demonstration to virtual panoramic, with barrier closely 101, represent that barriers are within the scope of apart from car body 0～50cm, with middle distance barrier 102, represent that barriers are within the scope of apart from car body 50～100cm, with long-distance barrier district 103, represent that barriers are in apart from the above scope of car body 100cm.In actual applications, conventional selection shows closely barrier district 101 with redness, with yellow, shows middle distance barrier district 102, with green, shows long-distance barrier thing district 103.
In accompanying drawing 5, show the middle circle around car body and be all closely barrier 101; A middle circle is middle distance barrier 102; And the Yi Quanshi long-distance barrier district 103 of outermost, now right front middle distance barrier and left front long-distance barrier district are luminous, show barrier.
This system, in static initial state, provides the barrier state of car front end, rear end.Vehicle is when low speed (travel speed lower than 50 kilometers/time) transport condition, can be by ultrasonic sensing device to the continuous sweep of periphery barrier, induction, within each interval time, the relative position of barrier changes, thereby surveys and draws, fictionalizes periphery barrier panorama.When vehicle stops from driving to, this system can be preserved the position memory to periphery barrier, when vehicle starts again, provides demonstration.
The above, it is only preferred embodiment of the present invention, not the present invention is done to any pro forma restriction, although the present invention discloses as above with preferred embodiment, yet not in order to limit the present invention, any those skilled in the art, do not departing within the scope of technical solution of the present invention, when can utilizing the technology contents of above-mentioned announcement to make a little change or being modified to the equivalent embodiment of equivalent variations, in every case be not depart from technical solution of the present invention content, according to the technology of the present invention, refer to any simple modification that above embodiment is done, equivalent variations and modification, all belong in the scope of technical solution of the present invention.
Claims (6)
1. a trailer-mounted radar detecting visual panorama system, this system comprises a plurality of ultrasonic sensing devices, controller and display, it is characterized in that, wherein a plurality of ultrasonic sensing devices are built on car body around 360 ° of car bodies, its signal transfers to controller, controller connects display, this controller comprises speed per hour collecting unit, relative position contrast unit, ultrasonic sensing feedback unit and virtual screen reconstruction unit, wherein this ultrasonic sensing feedback unit receives the signal of ultrasonic sensing device, and record; And speed per hour collecting unit is linked into automotive system, Real-time Obtaining automobile driving speed, this speed per hour collecting unit and ultrasonic sensing feedback unit output terminal are linked into respectively two information input terminals of relative position contrast unit, in this relative position contrast unit, carry out the mapping of barrier relative position variation and calculate; This virtual screen reconstruction unit, according to the result of calculation of relative position contrast unit, fictionalizes the panorama sketch of the relative automobile position of barrier; Controller connects display by this virtual screen reconstruction unit, and the virtual panoramic figure of reconstruction is transferred to display demonstration.
2. trailer-mounted radar detecting visual panorama system according to claim 1, is characterized in that, this trailer-mounted radar detecting visual panorama system also comprises loudspeaker, and this loudspeaker is connected with controller.
3. trailer-mounted radar detecting visual panorama system according to claim 2, is characterized in that, this loudspeaker, to obstacle distance, is distinguished prompting, within the scope of barrier enters into apart from car body 150cm, sends slow prompt tone; Barrier enters into apart within the scope of car body 100cm, sends rapid prompt tone; Within the scope of barrier enters into apart from car body 50cm, send yowl prompt tone.
4. trailer-mounted radar detecting visual panorama system according to claim 1, is characterized in that, the plurality of ultrasonic sensing device number is 6-18, in body structure, rear end, two sides, is all provided with this ultrasonic sensing device.
5. trailer-mounted radar detecting visual panorama system according to claim 1, it is characterized in that, the demonstration of this display to virtual panoramic, carry out subregion demonstration, with barrier closely, represent that barrier is within the scope of apart from car body 0～50cm, with middle distance barrier, represent that barrier is within the scope of apart from car body 50～100cm, with long-distance barrier district, represent that barrier is in apart from the above scope of car body 100cm.
6. trailer-mounted radar detecting visual panorama system according to claim 5, is characterized in that, with redness, shows closely barrier district, with yellow, shows middle distance barrier district, with green, shows long-distance barrier thing district.
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| CN201310578168.6A CN103675827A (en) | 2013-11-18 | 2013-11-18 | Vehicle-mounted radar detection virtual panorama system |
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| CN201310578168.6A CN103675827A (en) | 2013-11-18 | 2013-11-18 | Vehicle-mounted radar detection virtual panorama system |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105043404A (en) * | 2015-08-20 | 2015-11-11 | 小米科技有限责任公司 | Navigation method and navigation device |
| CN106257543A (en) * | 2016-09-23 | 2016-12-28 | 珠海市杰理科技股份有限公司 | Vehicle-running recording system based on virtual reality visual angle |
| CN107077145A (en) * | 2016-09-09 | 2017-08-18 | 深圳市大疆创新科技有限公司 | Show the method and system of the obstacle detection of unmanned vehicle |
| CN107924635A (en) * | 2016-03-07 | 2018-04-17 | 马自达汽车株式会社 | Vehicle-surroundings image display device |
| CN109050398A (en) * | 2018-08-20 | 2018-12-21 | 深圳市路畅智能科技有限公司 | A kind of automobile runs at a low speed safe early warning method |
| CN109229015A (en) * | 2018-02-11 | 2019-01-18 | 辅易航智能科技(苏州)有限公司 | The method for realizing 360 degree of barrier warning notes of vehicle based on ultrasonic sensor |
| CN111942289A (en) * | 2020-07-14 | 2020-11-17 | 青岛慧拓智能机器有限公司 | Vehicle blind area monitoring method and system based on remote driving and storage medium |
| CN112462371A (en) * | 2020-11-02 | 2021-03-09 | 东风汽车集团有限公司 | Obstacle detection method based on virtual reversing radar and storage medium |
| CN112947401A (en) * | 2019-12-09 | 2021-06-11 | 深动科技（北京）有限公司 | Method for displaying perception data in automatic driving system |
| CN116022174A (en) * | 2023-03-29 | 2023-04-28 | 北京易控智驾科技有限公司 | Remote driving information display method and device, electronic equipment and storage medium |
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| CN105043404A (en) * | 2015-08-20 | 2015-11-11 | 小米科技有限责任公司 | Navigation method and navigation device |
| CN107924635A (en) * | 2016-03-07 | 2018-04-17 | 马自达汽车株式会社 | Vehicle-surroundings image display device |
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| CN109050398A (en) * | 2018-08-20 | 2018-12-21 | 深圳市路畅智能科技有限公司 | A kind of automobile runs at a low speed safe early warning method |
| CN112947401A (en) * | 2019-12-09 | 2021-06-11 | 深动科技（北京）有限公司 | Method for displaying perception data in automatic driving system |
| CN111942289A (en) * | 2020-07-14 | 2020-11-17 | 青岛慧拓智能机器有限公司 | Vehicle blind area monitoring method and system based on remote driving and storage medium |
| CN111942289B (en) * | 2020-07-14 | 2021-12-24 | 青岛慧拓智能机器有限公司 | Vehicle blind area monitoring method and system based on remote driving and storage medium |
| CN112462371A (en) * | 2020-11-02 | 2021-03-09 | 东风汽车集团有限公司 | Obstacle detection method based on virtual reversing radar and storage medium |
| CN116022174A (en) * | 2023-03-29 | 2023-04-28 | 北京易控智驾科技有限公司 | Remote driving information display method and device, electronic equipment and storage medium |
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Application publication date: 20140326 |