CN103913748B - A kind of automobile sensory perceptual system based on multisensor and cognitive method - Google Patents
A kind of automobile sensory perceptual system based on multisensor and cognitive method Download PDFInfo
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- CN103913748B CN103913748B CN201410080250.0A CN201410080250A CN103913748B CN 103913748 B CN103913748 B CN 103913748B CN 201410080250 A CN201410080250 A CN 201410080250A CN 103913748 B CN103913748 B CN 103913748B
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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
-
- 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
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
Abstract
A kind of automobile sensory perceptual system based on multisensor and cognitive method, automobile sensory perceptual system includes multiple ultrasonic sensors, the micro-control unit MCU being arranged on four faces of body of a motor car, is arranged on the one-dimensional laser radar of four road Servo-controllers and four roads of car roof；Described ultrasonic sensor is connected by I2C bus with micro-control unit MCU, and the one-dimensional laser radar of four road Servo-controllers and four roads is connected respectively with micro-control unit MCU, and Servo-controller passes through the one-dimensional laser radar of rotating shaft and four roads and connects.This system passes through the sensor with reference to ultrasonic sensor and two priority levels of laser radar, ensures the real-time ensureing to greatest extent in vehicle traveling process to detect using degree relationship；By the system, without using three-dimensional laser scanning system, there is low cost good reliability.
Description
Technical field
The present invention relates to Vehicle Engineering, more particularly, to a kind of automobile sensory perceptual system based on multisensor and perception side
Method.
Background technology
With social development, traffic safety problem increasingly highlights, and traditional automotive safety theory is also gradually occurring
Change, mostly traditional security concepts very passive such as seat belt, air bag, bumper etc. are that method passive a bit can not have
Effect solves the generation of vehicle accident, and with scientific and technological progress, the safety of automobile is refined, and current automotive safety is divided into actively peace
Entirely, passive security two conception of species.Passive security technology and active safety technologies are to ensure that the important leverage of vehicle occupant safety.Cross
Go, automotive safety design is main to consider passive safety system, such as setting seat belt, air bag, bumper etc..Automobile sets now
The meter more consideration of teachers is then active safety design, so that automobile is actively taken measures, it is to avoid the generation of accident.This
Equipped with automobile avoidance system on automobile, including being contained in the sensing such as the Anticollision Radar at each position of vehicle body, Doppler radar, infrared radar
The facilities such as device, blind spot detector, are controlled by computer.Overtaking other vehicles, move backward, lane-change, dense fog, rainy day etc. easily cause danger
In the case of provide the necessary information of motor vehicle environment with sound, light form to driver at any time, and can automatically take measures, effectively prevent
Accident occurs.
In the ranging for preventing collision sensor that active safety system is adopted, ultrasonic distance-measuring sensor has low cost, high
The advantages of reliability, therefore suffer from the welcome of numerous automotive vehicle owners, be used for the product of reversing automobile backup radar at it and be even more
Occupy sizable some market of reversing radar of vehicle.In addition, laser range sensor has signal concentrating, measurement
Apart from the advantages of far, certainty of measurement is high, mobile lidar in the market refers to carry three-dimensional laser scanner, is a kind of shifting
Ejector half three-dimensional laser scanning system, is one of maximally effective instrument of current City Modeling.But this laser sensor cost
Height, does not have promotional value, and, using the one-dimensional laser radar of low cost, rate of scanning is slow for the design, but passes through and super
The sensory perceptual system of sonic sensor array and Servo-controller two priority of composition can avoid its drawback very well.
This design needs, according to vehicle commander, overall width and institute's receptible measurement blind area scope, to determine ultrasonic sensor
Number, ultrasonic sensor number is more, and blind area can be made less, the closely azimuthal measurement that ultrasonic sensor is realized
Can be more accurate, but can make ultrasonic array detection cycle elongated, and be unfavorable for the real-time measurement of barrier.Using measurement
Blind area is designed for 30cm, can ensure that measure the cycle is short and azimuth information is accurate well；Laser radar selects 4 roads one-dimensional
Laser radar, is controlled respectively using 4 road Servo-controllers and ensure that each laser radar can measure the arbitrarily angled of 0-90 ° of scope
Barrier, feed back the angle information of barrier by the PWM value of steering wheel, laser radar measured value is as range information.
The difficult point of the design technology is how to determine the orientation of barrier by ultrasonic array, is determining 0-7 rice
In the range of the general orientation of barrier after, laser sensor the most rapidly could accurately carry out positioning and accurate measure；
In addition, how laser radar and array of ultrasonic sensors are realized orientation merging, only both orientation are completely the same, Fang Neng
The orientation of barrier is accurately shown on last display screen.
Content of the invention
The technical problem to be solved in the present invention is for defect of the prior art, provide a kind of based on multisensor
Automobile sensory perceptual system and cognitive method, can accurately show the azimuth-range of body of a motor car periphery barrier.
The technical solution adopted for the present invention to solve the technical problems is：A kind of automobile perception system based on multisensor
System, it is characterised in that including being arranged on multiple ultrasonic sensors, the micro-control unit MCU in four faces of body of a motor car, is arranged on
The one-dimensional laser radar of four road Servo-controllers and four roads of car roof；Described ultrasonic sensor is passed through with micro-control unit MCU
I2C bus connects, and the one-dimensional laser radar of four road Servo-controllers and four roads is connected respectively with micro-control unit MCU, and Servo-controller leads to
Cross the one-dimensional laser radar of rotating shaft and four roads to connect.
By such scheme, the setting condition of described ultrasonic sensor is：Between two sensors, minimum range is, four faces of vehicle body need the sensor total number to be；Its
InFor the check frequency of ultrasonic sensor,Maximum for ultrasonic sensor detects angle,For overall width,For car
Long.
The cognitive method of the above-mentioned automobile sensory perceptual system based on multisensor, comprises the following steps：
（1）Vapour is arranged on according to the volume driving vehicle and the check frequency determination that can accept ultrasonic sensor minimum
The number of the ultrasonic sensor in four faces of car vehicle body, and ultrasonic sensor is numbered；
（2）Determine the control strategy of poll detection and the control of the array of ultrasonic sensors of multiple ultrasonic sensor compositions
The minimum time cycle processed；
（3）The obstacle distance information fed back by ultrasonic array and sensor number determine the big of barrier place
Cause azimuth-range；
（4）Micro-control unit MCU is calculated according to the azimuth-range information of the ultrasonic sensor feedback receiving, root
Servo-controller is controlled to control laser radar to be accurately positioned according to result of calculation；
（5）The information returning micro-control unit MCU to laser radar and array of ultrasonic sensors is compared, if both
Return to orientation and range data be consistent, then show scanning information, otherwise, Laser Radar Scanning angle is finely tuned by Servo-controller,
Proceed to step（4）；
（6）Laser radar carries out, by degree scanning, obtaining after the completion of closely positioning in respective 0 to 90 ° of bearing range
Take long-distance barrier thing location information.
By the control strategy determining poll detection in such scheme, described step (2) and the side controlling the minimum time cycle
Method is：
Calculated with car body one face number of probes for M, because each ultrasonic sensor has field angle θ, in sensing
The place of the maximum radius L rice that device can measure may have the measured zone of X sensor overlapping, then has M/X sensor to send out
Penetrate and be mutually independent of each other with received ultrasonic signal, then sensor number is that the sensor of 1, X+1,2X+1 ... can work simultaneously
Make；According to external condition it is known that the velocity of sound is V, one-shot measurement length cycle time can be calculated with maximum measurement distance not short
In t=2* R/V=14/V, R is finding range, is typically set to 7 meters；The sensor of so this one side of car body is fully completed once to be sent out
Penetrate and receive cycle total time for T=X*t=14X/V.
By such scheme, in described step (3), determine concretely comprising the following steps of general orientation that barrier is located and distance：
Sensor carries out the scanning of vehicle body periphery barrier, and sensor number is n, n+1, n+2 ... n+m（m<X）All obtain one
Individual measurement distance, wherein minimum measurement distance is Lsmin, then it is Lsmin away from vehicle body peripheral distance, can be by the side tabled look-up
Formula determines the orientation of this barrier, and the formulation of described table is covered according to a certain distance of ultrasonic sensor measurement and this distance
The scope of lid determines.
By such scheme, described step（4）Middle MCU changes the arteries and veins of Servo-controller PWM by using digital IIR filters mode
Rush width ratio, make Servo-controller accurately swing to rapidly relevant position and measure, the Digital PID Algorithm of use：
.
By such scheme, step（6）Described in be closely away from 0 to 7 meter of scope of vehicle body, be away from vehicle body 7 to 60 at a distance
Rice scope.
The beneficial effect comprise that：
（1）Barrier in the range of 7 meters of the automobile whole body need rapid, accurate measure, be defined as one-level measurement zone, 7
The barrier in the range of 60 meters for the rice can be defined as two grades of measurement zones, the inventive method is passed through excellent with reference to two by degree scanning
The sensor of first rank, ensures the real-time ensureing to greatest extent in vehicle traveling process to detect using degree relationship；
（2）By the inventive method, without using three-dimensional laser scanning system, there is low cost good reliability.
Brief description
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 is method of the present invention flow chart.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not used to limit
Determine the present invention.
A kind of automobile sensory perceptual system based on multisensor, passes including the multiple ultrasound wave being arranged on four faces of body of a motor car
Sensor, micro-control unit MCU, are arranged on the one-dimensional laser radar of four road Servo-controllers and four roads of car roof；Described ultrasound wave
Sensor is connected by I2C bus with micro-control unit MCU, the one-dimensional laser radar of four road Servo-controllers and four roads and microcontroller list
First MCU connects respectively, and Servo-controller passes through the one-dimensional laser radar of rotating shaft and four roads and connects.If the check frequency of ultrasonic sensor
For, maximum detection angle is, then it is not more than to ensure maximum blind area between two sensorsMinimum range be, set overall width as, Che ChangweiIt is contemplated that vehicle body one side needs number of probes, then four faces need the sensor total number to be.
Using the cognitive method of the above automobile sensory perceptual system based on multisensor, comprise the following steps, method flow diagram
As shown in Figure 1：
（1）Vapour is arranged on according to the volume driving vehicle and the check frequency determination that can accept ultrasonic sensor minimum
The number of the ultrasonic sensor in four faces of car vehicle body, and ultrasonic sensor is numbered；
（2）Determine the control strategy of poll detection and the control of the array of ultrasonic sensors of multiple ultrasonic sensor compositions
The minimum time cycle processed；
（3）The obstacle distance information fed back by ultrasonic array and sensor number determine the big of barrier place
Cause azimuth-range；Sensor carries out the scanning of vehicle body periphery barrier, and sensor number is n, n+1, n+2 ... n+m（m<X）All
Obtain a measurement distance, wherein minimum measurement distance is Lsmin, then it is Lsmin away from vehicle body peripheral distance, can be by looking into
The mode of table determines the orientation of this barrier, the formulation of described table according to a certain distance of ultrasonic sensor measurement and this away from
Determine from the scope being covered.
（4）Micro-control unit MCU is calculated according to the azimuth-range information of the ultrasonic sensor feedback receiving, root
Servo-controller is controlled to control laser radar to be accurately positioned according to result of calculation；
Obtain the obstacle position information of vehicle body periphery ultrasonic sensor return, due to ultrasonic sensor field angle ratio
Larger, positioning is not accurate, and MCU can call laser radar on roof to be positioned rapidly, and roof laser radar is one-dimensional point
Shape range laser radar, with servorudder arbor even, MCU by being calculated Obstacle Position in vehicle body side with car center is
Axle, dead ahead is that the angle of positive direction is aboutPlace, settingThe corresponding dutyfactor value of angular deviation, using Digital PID Algorithm.Permissible by using digital IIR filters mode
The pulse width ratio changing PWM makes Servo-controller accurately swing to rapidly relevant position to measure.
（5）The information returning micro-control unit MCU to laser radar and array of ultrasonic sensors is compared, if phase
Symbol, then show scanning information, otherwise, finely tunes Laser Radar Scanning angle by Servo-controller, proceeds to step（4）；
（6）Laser radar carries out sweeping by degree after the completion of 0 to 7 meter of scope positions in respective 0 to 90 ° of bearing range
Retouch, obtain away from 7 to 60 meters of scope barrier location informations of vehicle body.
Barrier in the range of automobile all over the body 7 meters needs rapid, accurate measurement, is defined as one-level measurement zone, 7 meters are arrived
Barrier in the range of 60 meters can be defined as two grades of measurement zones, this method is passed through with reference to two priority levels by degree scanning
Sensor, ensures the real-time ensureing to greatest extent in vehicle traveling process to detect using degree relationship.
（7）After having obtained the distance measure of needs, coordinate centered on autocentre is shown in by display,
In the range of 360 degree, the real-time obstacle distance in the range of 60 meters of distance and orientation display are schemed.
It should be appreciated that for those of ordinary skills, can be improved according to the above description or be converted,
And all these modifications and variations all should belong to the protection domain of claims of the present invention.
Claims (4)
1. a kind of cognitive method of the automobile sensory perceptual system based on multisensor, described automobile sensory perceptual system includes being arranged on automobile
Multiple ultrasonic sensors in four faces of vehicle body, micro-control unit MCU, are arranged on four road Servo-controllers and four tunnels of car roof
One-dimensional laser radar；Described ultrasonic sensor is connected by I2C bus with micro-control unit MCU, four road Servo-controllers and four
The one-dimensional laser radar in road is connected respectively with micro-control unit MCU, and Servo-controller passes through the one-dimensional laser radar of rotating shaft and four roads and connects；Its
Described in the setting condition of ultrasonic sensor be：Between two sensors, minimum range is
It is N=(2 (L that four faces of vehicle body need sensor total numberw+L1)/Lmin-4)；Wherein LunBlind for the detection of ultrasonic sensor
Area, θ is the maximum detection angle of ultrasonic sensor, LwFor overall width, L1For vehicle commander；
It is characterized in that, comprise the following steps：
(1) determined according to the volume the driving vehicle check frequency minimum with ultrasonic sensor can be accepted and be arranged on Automobile
The number of the ultrasonic sensor in four faces of body, and ultrasonic sensor is numbered；
(2) determine the control strategy of poll detection of the array of ultrasonic sensors of multiple ultrasonic sensor compositions and control
The little time cycle；
(3) the obstacle distance information fed back by ultrasonic array and sensor number determine the substantially square of barrier place
Position and distance；
(4) micro-control unit MCU is calculated according to the azimuth-range information of the ultrasonic sensor feedback receiving, according to meter
Calculating output control Servo-controller controls laser radar to be accurately positioned；
(5) information returning micro-control unit MCU to laser radar and array of ultrasonic sensors is compared, if both orientation
It is consistent with range data, then show scanning information;Otherwise, Laser Radar Scanning angle is finely tuned by Servo-controller, proceed to step
(4)；
(6) laser radar carries out, by degree scanning, obtaining remote after the completion of closely positioning in respective 0 to 90 ° of bearing range
Apart from barrier location information.
2. cognitive method according to claim 1 is it is characterised in that determine the control of poll detection in described step (2)
Strategy and control the minimum time cycle method be：
Calculated with car body one face number of probes for M, because each ultrasonic sensor has field angle θ, in sensor energy
The place of the maximum radius L rice of measurement may have the measured zone of X sensor overlapping, then have M/X sensor emission with
Received ultrasonic signal phase is independent of each other, then sensor number is that the sensor of 1, X+1,2X+1 ... can work simultaneously；
According to external condition it is known that the velocity of sound is V, one-shot measurement length cycle time can be calculated with maximum measurement distance and be not shorter than t
=2*R/V=14/V, R are finding range, are typically set to 7 meters；The sensor of so this one side of car body is fully completed primary emission
It is T=X*t=14X/V with receiving cycle total time.
3. cognitive method according to claim 2 is it is characterised in that determine the big of barrier place in described step (3)
Cause concretely comprising the following steps of azimuth-range：
Sensor carries out the scanning of vehicle body periphery barrier, and sensor number is n, n+1, n+2 ... n+m, wherein m<X, obtains one
Individual measurement distance, wherein minimum measurement distance is Lsmin, then it is Lsmin away from vehicle body peripheral distance, can be by the side tabled look-up
Formula determines the orientation of this barrier, and the formulation of described table is covered according to a certain distance of ultrasonic sensor measurement and this distance
The scope of lid determines.
4. cognitive method according to claim 1 is it is characterised in that be closely away from vehicle body 0 to 7 described in step (6)
Rice scope, is away from 7 to 60 meters of scopes of vehicle body at a distance.
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| CN104535061A (en) * | 2015-01-06 | 2015-04-22 | 常州先进制造技术研究所 | Navigation system based on multi-sensor data fusion |
| CN104678402B (en) * | 2015-03-24 | 2017-07-28 | 安徽江淮汽车集团股份有限公司 | A kind of radar dispatching method for auxiliary of parking |
| JP6975945B2 (en) * | 2016-02-24 | 2021-12-01 | パナソニックＩｐマネジメント株式会社 | Judgment device, judgment method, program and recording medium on which the program is recorded |
| CN105667402A (en) * | 2016-03-21 | 2016-06-15 | 吉林大学 | Backing up assisting system of trailer |
| CN106314327A (en) * | 2016-08-30 | 2017-01-11 | 陈武强 | Detection device and detection method of car ultrasonic blind area for preventing ground measuring error and misinformation |
| CN106707297B (en) * | 2016-11-08 | 2023-09-01 | 上海禾赛科技有限公司 | Large-view-field vehicle-mounted laser radar and vehicle |
| JP6914065B2 (en) * | 2017-03-17 | 2021-08-04 | シャープ株式会社 | Obstacle detection device, traveling device, obstacle detection system and obstacle detection method |
| CN107009968B (en) * | 2017-03-28 | 2020-08-28 | 驭势科技（北京）有限公司 | Vehicle-mounted laser radar control method and device and vehicle-mounted equipment |
| CN108956761B (en) * | 2017-05-23 | 2020-12-25 | 浙江工商职业技术学院 | Steel plate full-coverage ultrasonic detection device and method |
| CN108037515A (en) * | 2017-12-27 | 2018-05-15 | 清华大学苏州汽车研究院（吴江） | A kind of laser radar and ultrasonic radar information fusion system and method |
| CN108333589A (en) * | 2018-03-13 | 2018-07-27 | 苏州青飞智能科技有限公司 | A kind of automatic driving vehicle obstacle detector |
| CN110988885B (en) * | 2019-12-24 | 2021-12-03 | 深圳南方德尔汽车电子有限公司 | Method, device and system for monitoring surrounding environment of automobile and storage medium |
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| CN2384816Y (en) * | 1999-07-07 | 2000-06-28 | 华强 | Combined car anticollision device controlled by on-echip computer |
| CN201484347U (en) * | 2009-07-03 | 2010-05-26 | 北京工业大学 | Automobile early-warning device for rear-end collision prevention and reversing |
| CN201917661U (en) * | 2010-11-29 | 2011-08-03 | 浙江亚特电器有限公司 | Mobile robot positioning system |
| DE202013011576U1 (en) * | 2013-12-23 | 2014-03-17 | Günter Holland-Letz | Garage parking assistance system |
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