CN104502916B - Radar car backing system and method - Google Patents
Radar car backing system and method Download PDFInfo
- Publication number
- CN104502916B CN104502916B CN201410827182.XA CN201410827182A CN104502916B CN 104502916 B CN104502916 B CN 104502916B CN 201410827182 A CN201410827182 A CN 201410827182A CN 104502916 B CN104502916 B CN 104502916B
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- Prior art keywords
- radar
- barrier
- money
- coordinate
- backing
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Classifications
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/56—Display arrangements
Abstract
The invention discloses a radar car backing system and method. The radar car backing system is characterized in that a display area is divided into nine cells in advance, and image data of each cell is pre-stored; during car backing, the image of a car tail is acquired in real time; the image is stored; the image is displayed; when an obstacle at the car tail is detected, the coordinates of the obstacle is acquired; the coordinates are correspondingly mapped with the pre-stored image data so as to determine the display area of the cell where the obstacle is located, and the image data corresponding to the coordinates is pulled up; the actual position of the obstacle is marked with a warning image layer in the corresponding image data. By the radar car backing system, a driver can clearly know the position of the obstacle through a display screen in a car during car backing when the obstacle exists in a detecting range, warnings covers the obstacle to remind the driver of the specific position of the obstacle, and accident rate is reduced. The invention further discloses a radar car backing method of the radar car backing system.
Description
Technical field
The present invention relates to a kind of backing system, more particularly, to a kind of radar backing system.
Background technology
Its people improve year by year with building distinctive socialist state paces, living standard, the recoverable amount of vehicle
Advance by leaps and bounds, the form of human pilot exponentially in next year is constantly huge, and driving ability level is uneven, particularly curb parking
With reversing technology, news report is constantly had to scratch event, the application of photographic head and radar for backing car brings Gospel for human pilot,
Decrease accident rate, improve safe driving enjoyment.
, in the real time imaging 11 of display 13 display, there is barrier in existing reverse image and radar for backing car connected applications, such as Fig. 1
Hinder thing 14, warning figure layer 12 is reported to the police according to the three-stage of radar for backing car and combined, and different alarm distances show three zoness of different；
For another example Fig. 2 a, Fig. 2 b, Fig. 2 c, wherein, Fig. 2 a barrier, in 100-150cm, belongs to safety zone, and alarm is rung slowly；Fig. 2 b hinders
Hinder thing in 50-100cm, belong to fast ring region, alarm is rung soon；Fig. 2 c barrier, less than in 50cm, belonging to deathtrap, is warned
Report is straight to ring.Radar is only that the air line distance between barrier and probe is given to photographic head, directly transfers inside inside photographic head
The figure layer prestoring, the area flag having barrier out.
Content of the invention
For the deficiency of currently existing scheme, the present invention proposes a kind of radar backing system and radar backing method, its application
Several pinup picture technology and the combination of Ultrasonic Range Finder for Parking triangulation calculation, allow human pilot in reversing, have in investigative range
During barrier, Obstacle Position is apparent from by in-car display screen, and covers warning clause, clearly remind driver's obstacle
The particular location of thing, reduces accident rate.
The present invention is achieved in that a kind of radar backing system, and it includes：
Photographing module, obtains the image of the tailstock in real time when it is used for moveing backward；
Memory module, it is used for storing this image；
Display module, it is used for showing this image；
Alarm module, it is used for being reported to the police according to this image；
Format module, it is used in advance viewing area nine grids being melted into 9 grid, and the figure of each grid is provided pre-
Deposit；
Radar for backing car module, it is used for, after detecting the barrier of the tailstock, obtaining the coordinate of this barrier；
Mapping block, it is used for this coordinate to do corresponding mapping to determine this barrier in which grid to the figure money prestoring
Viewing area, and figure corresponding with this coordinate money is recalled；
Wherein, this alarm module is additionally operable in corresponding figure money, and this barrier physical location warning figure layer is indicated
Come.
As the improvement further of such scheme, this memory module adopts Flash.
Further, this mapping block does corresponding mapping the coordinate of this barrier to the figure money in this Flash：When this falls
After car radar module detects barrier, the coordinate of this barrier is passed to this photographing module, this photographing module passes through this Flash
Corresponding diagram money is recalled.
Yet further, this photographing module adopts photographic head.
As the improvement further of such scheme, this radar for backing car module include the tailstock in horizontal linear arrangement some
Probe, this is some to pop one's head in as multicast form：After one probe transmission signal, all probes include itself probe and will be in
Reception pattern, the reception time popped one's head according to each, calculates the air line distance of barrier and corresponding probe, reapplies triangle and become
Change the relative coordinates calculating vehicle body.
Further, this radar for backing car module calculates from the nearest obstacle article coordinate of car vertical dimension and sends to this
Photographing module, this mapping block recalls the figure money of corresponding figure layer, and obstruction marking is highlighted.
Further, this some probe is arranged on the bumper of the tailstock.
The present invention also provides the radar backing method of above-mentioned arbitrary radar backing system, this radar backing method include with
Lower step：In advance viewing area nine grids are melted into 9 grid, and the figure money of each grid is prestored；Obtain in real time during reversing
The image of the tailstock；Store this image；Show this image；After detecting the barrier of the tailstock, obtain the coordinate of this barrier；?
This coordinate does corresponding mapping to determine the viewing area in which grid for this barrier to the figure money prestoring, and will be with this coordinate pair
The figure money answered recalls；In corresponding figure money, barrier physical location warning figure layer is marked.
As the improvement further of such scheme, calculate from the nearest obstacle article coordinate of car vertical dimension, according to this
Obstacle article coordinate recalls the figure money of corresponding figure layer, and obstruction marking is highlighted.
Further, some probes of the arrangement in horizontal linear are installed on the bumper of the tailstock, this is some to pop one's head in as one
Send out many receipts forms：After one probe transmission signal, all probes include itself probe will in a receive mode, according to each spy
The reception time of head, calculate the air line distance of barrier and corresponding probe, reapply triangle change calculations and go out the relative of vehicle body
Coordinate.
The present invention primarily focuses on and utilizes triangle to change radar for backing car, calculates the actual coordinate of barrier, screen
Curtain is divided into 9 palace lattice, the information of Use barriers article coordinate, determines which region in nine grids for the barrier, and corresponding region is used
Little figure money marks, and more conducively observes.Beneficial effects of the present invention are：
1. barrier computed range car vertical dimension is accurate；
2., while indicating barrier, do not block other regions；
3. it is beneficial to human pilot quick cognitive disorders object location
Brief description
Fig. 1 is the application schematic diagram that existing reverse image is combined with radar for backing car.
Fig. 2 a is the another application schematic diagram that existing reverse image is combined with radar for backing car.
Fig. 2 b is the state change map of Fig. 2 a.
Fig. 2 c is the another state change map of Fig. 2 a.
The structural representation of the radar backing system that Fig. 3 provides for better embodiment of the present invention.
Fig. 4 is the state change map of the display screen of radar backing system in Fig. 3.
Fig. 5 is the coordinate schematic diagram of radar backing system in Fig. 3.
Fig. 6 is that the information of coordinate in Fig. 5 calculates schematic diagram.
Fig. 7 is the mapping relations schematic diagram of radar backing system in Fig. 3.
Fig. 8 is the schematic diagram of formatting of radar backing system in Fig. 3.
Fig. 9 is the alarm indicator figure of radar backing system in Fig. 3.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with drawings and Examples, right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only in order to explain the present invention, not
For limiting the present invention.
The present invention primarily focuses on and utilizes triangle to change radar for backing car, calculates the actual coordinate of barrier, screen
Curtain is divided into 9 palace lattice, the information of Use barriers article coordinate, determines which region in nine grids for the barrier, and corresponding region is used
Little figure money marks, and more conducively observes.As shown in figure 3, the warning figure layer 31 of viewing area 32 display on display screen 33
Cover on barrier 34.
The radar backing system of the present invention includes：Photographing module, obtains the image of the tailstock in real time when it is used for moveing backward；Storage
Module, it is used for storing this image；Display module, it is used for showing this image；Alarm module, it is used for according to this image report
Alert；Format module, it is used in advance viewing area nine grids being melted into 9 grid, and the figure money of each grid is prestored；Reversing
Radar module, it is used for, after detecting the barrier of the tailstock, obtaining the coordinate of this barrier；Mapping block, it is used for this
Coordinate does corresponding mapping to determine the viewing area in which grid for this barrier to the figure money prestoring, and will answer with this coordinate pair
Figure money recall.Wherein, this alarm module is additionally operable in corresponding figure money, this barrier physical location warning figure layer mark
Illustrate.
This memory module can adopt Flash, and this photographing module can adopt photographic head, and this radar for backing car module may include the tailstock
In horizontal linear arrangement some probes, probe be preferably ultrasound probe.This system viewing area nine grids, in advance
The figure money of each grid is stored in Flash in advance, respective coordinates and the figure money in Flash of radar for backing car are done corresponding mapping, when
After radar for backing car detects barrier, coordinate is passed to photographic head, photographic head passes through Flash and corresponding diagram money recalled, barrier
Hinder thing physical location warning figure layer to mark, beneficial to human pilot identification, improve driving safety.
As shown in figure 4, the radar backing method of the radar backing system of the present invention comprises the following steps：
In advance viewing area nine grids are melted into 9 grid, and the figure money of each grid is prestored；
The image of the tailstock is obtained in real time during reversing；
Store this image；
Show this image；
After detecting the barrier of the tailstock, obtain the coordinate of this barrier；
This coordinate is done corresponding mapping to determine the viewing area in which grid for this barrier to the figure money prestoring, and will
Figure money corresponding with this coordinate recalls；
In corresponding figure money, barrier physical location warning figure layer is marked.
Calculate with regard to radar for backing car coordinate information, in the present embodiment, probe taking 4 is as a example illustrated.As
Shown in Fig. 5.The coordinate of 4 probes is respectively (X1,0), (X2,0), (X3,0), (X4,0), and the coordinate of barrier is (X, Y).
According to back-up radar probe installation site, determine each probe co-ordinate, in the present embodiment, probe is arranged on car
On the bumper of tail.It is after 1 probe is launched that reverse radar system is designed to multicast form, and itself and adjacent probe are all
Receptive pattern to be in, the time being accepted according to each probe, the air line distance calculating barrier with corresponding probe (calculates in detail
The formula (3) seeing below).Incorporated by reference to Fig. 6, reapply triangular transformation and calculate, draw out vertical and barrier Y and horizontal X.I.e.
Obtain the coordinate (X, Y) that barrier is relative to vehicle body.
Triangle basis for estimation：Arbitrarily both sides sum is more than the 3rd side, and any both sides are only poor to be less than the 3rd side.
The air line distance of front 3 barriers of popping one's head in is L1, L2, L3.X-axis falls in region decision：L2 ＞ L1 falls in triangle
On the left of shape, L2 ＜ L1 falls on the right side of triangle；As shown in fig. 6, in figure, V：Sound spread speed in atmosphere, 340m/s；L：Super
After sound wave reaches barrier, reflex to the air line distance distance of probe.It is assumed that reach a certain probe time be t, apart from L
=V × t；Y：Protect the vertical dimension of bar for barrier to car.
Known：X1, X2, L1, L2, L3, seek Y.
W1=X2-X1；
Y^2=L22-XN^2；Formula (1)
Y^2=L1^2- (W1-XN) ^2；Formula (2)
Formula (1)-formula (2) obtains：L2^2-XN^2-L1^2+ (W1-XN) ^2=0
Obtain after conversion：XN=(L2^2-L1^2+W1^2)/2W1 (3)
XN brings (3) formula into, obtains Y, is barrier from car vertical dimension.
X=X2-XN confirms barrier (X, Y) coordinate.
The like, calculate from car vertically nearest with a distance from be sent to photographic head, recall corresponding figure layer figure money, hindering
Hinder thing to indicate to highlight.
Provide call method with regard to photographic head inside figure layer figure.
Photographic head on the market is CMOS technology mostly at present, integrated height, and low in energy consumption, simple production process etc. obtains extensively
Application, this patent selects the up-to-date ASX340AT image sensor chip of Aptina company, at most may be used in width real-time pictures
See Fig. 7 to show that 4 layers of figure provide concrete operating principles, each layer can call in real time in Flash, increases other work(for follow-up
(can for example increase warning clause etc.) provides extension well.
According to the farthest investigative range of radar for backing car, nine regions are divided on screen, such as BURN-THROUGH RANGE is
150cm, after real vehicle is installed, longitudinal 150cm from screen, the actual position in screen of 100cm, 50cm, fall in basis
The position that 4 probes of car radar are installed.The installation site popped one's head in the present embodiment is bumper 38, in the screen of display screen 33
See the horizontal X1 of viewing area 32, the position of X2, X3, X4 in curtain, after screen carrys out straight line, obtain the coldest days of the year end grid, as Fig. 8 institute
Show.
Such as barrier falls at 80cm through computing, and laterally between X3 and X4, marking pattern money falls in the 6th palace lattice, shows
Show as shown in Figure 9.
In sum, the present invention primarily focuses on and utilizes triangle to change radar for backing car, calculates the actual seat of barrier
Mark, is being divided into 9 palace lattice, the information of Use barriers article coordinate screen, is being determined which region in nine grids for the barrier, corresponding
Region marked with little figure money, more conducively observe.
Beneficial effects of the present invention are：1. barrier computed range car vertical dimension is accurate；2. while indicating barrier,
Do not block other regions；3. it is beneficial to human pilot quick cognitive disorders object location.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention
Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.
Claims (10)
1. a kind of radar backing system, it includes：
Photographing module, obtains the image of the tailstock in real time when it is used for moveing backward；
Memory module, it is used for storing this image；
Display module, it is used for showing this image；
Alarm module, it is used for being reported to the police according to this image；
It is characterized in that：This radar backing system also includes：
Format module, it is used in advance viewing area nine grids being melted into 9 grid, and the figure money of each grid is prestored；
Radar for backing car module, it is used for, after detecting the barrier of the tailstock, obtaining the coordinate of this barrier；
Mapping block, its be used for this coordinate and prestore figure money do corresponding mapping with determine this barrier which grid showing
Show region, and figure money corresponding with this coordinate is recalled；
Wherein, this alarm module is additionally operable in corresponding figure money, and this barrier physical location warning figure layer is marked.
2. radar backing system as claimed in claim 1 it is characterised in that：This memory module adopts Flash.
3. radar backing system as claimed in claim 2 it is characterised in that：This mapping block the coordinate of this barrier with should
Figure money in Flash does corresponding mapping：After this radar for backing car module detects barrier, the coordinate of this barrier is passed to this
Photographing module, this photographing module passes through this Flash and corresponding diagram money is recalled.
4. radar backing system as claimed in claim 3 it is characterised in that：This photographing module adopts photographic head.
5. radar backing system as claimed in claim 1 it is characterised in that：This radar for backing car module include the tailstock in level
Some probes of linear array, this is some to pop one's head in as multicast form：After one probe transmission signal, all probes are included certainly
Body probe will in a receive mode, reception time of being popped one's head according to each, calculate the straight line of barrier and corresponding probe away from
From reapplying the relative coordinates that triangle change calculations go out vehicle body.
6. radar backing system as claimed in claim 5 it is characterised in that：This radar for backing car module calculates vertical from car
Closest obstacle article coordinate simultaneously sends to this photographing module, and this mapping block recalls the figure money of corresponding figure layer, barrier
Sign highlights.
7. radar backing system as claimed in claim 5 it is characterised in that：This some probe is arranged on the bumper of the tailstock
On.
8. a kind of radar backing method of radar backing system as claimed in any of claims 1 to 7 in one of claims, its feature exists
In：This radar backing method comprises the following steps：
In advance viewing area nine grids are melted into 9 grid, and the figure money of each grid is prestored；
The image of the tailstock is obtained in real time during reversing；
Store this image；
Show this image；
After detecting the barrier of the tailstock, obtain the coordinate of this barrier；
This coordinate is done corresponding mapping to determine the viewing area in which grid for this barrier to the figure money prestoring, and will be with this
Coordinate corresponding figure money recalls；
In corresponding figure money, barrier physical location warning figure layer is marked.
9. radar backing method as claimed in claim 8 it is characterised in that：Calculate from the nearest obstacle of car vertical dimension
Article coordinate, recalls the figure money of corresponding figure layer, obstruction marking is highlighted according to this obstacle article coordinate.
10. radar backing method as claimed in claim 9 it is characterised in that：The bumper of the tailstock is installed straight in level
Some probes of line arrangement, this is some to pop one's head in as multicast form：After one probe transmission signal, all probes include itself
Probe will in a receive mode, reception time of being popped one's head according to each, calculates the air line distance of barrier and corresponding probe,
Reapply the relative coordinates that triangle change calculations go out vehicle body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410827182.XA CN104502916B (en) | 2014-12-25 | 2014-12-25 | Radar car backing system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410827182.XA CN104502916B (en) | 2014-12-25 | 2014-12-25 | Radar car backing system and method |
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| CN104502916A CN104502916A (en) | 2015-04-08 |
| CN104502916B true CN104502916B (en) | 2017-02-22 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105818763B (en) * | 2016-03-09 | 2018-06-22 | 睿驰智能汽车（广州）有限公司 | A kind of method, apparatus and system of determining vehicle periphery object distance |
| CN107819278B (en) * | 2016-11-25 | 2023-07-14 | 国网山东省电力公司新泰市供电公司 | Handcart type breaker cabinet shielding device and method |
| CN108725319B (en) * | 2017-10-31 | 2021-05-04 | 无锡职业技术学院 | Image type car backing guidance method |
| CN109398232A (en) * | 2018-09-30 | 2019-03-01 | 北京长城华冠汽车科技股份有限公司 | A kind of reversing display methods and system |
| WO2020107176A1 (en) * | 2018-11-26 | 2020-06-04 | 华为技术有限公司 | Obstacle detection method and device |
| CN109624852A (en) * | 2018-11-30 | 2019-04-16 | 北京长城华冠汽车科技股份有限公司 | A kind of display methods and device of installed video |
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| DE4333112A1 (en) * | 1993-09-29 | 1995-03-30 | Bosch Gmbh Robert | Method and device for parking a vehicle |
| CN101311746A (en) * | 2007-05-24 | 2008-11-26 | 李世雄 | Vehicular obstacle detection device capable of indicating obstacle distance |
| CN101409092A (en) * | 2007-09-26 | 2009-04-15 | 株式会社电装 | In-vehicle information apparatus and in-vehicle multi-media system |
| CN101582164A (en) * | 2009-06-24 | 2009-11-18 | 北京锦恒佳晖汽车电子系统有限公司 | Image processing method of parking assist system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101316501B1 (en) * | 2011-10-14 | 2013-10-10 | 현대자동차주식회사 | Parking area detection system and method thereof using mesh space analysis |
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| DE4333112A1 (en) * | 1993-09-29 | 1995-03-30 | Bosch Gmbh Robert | Method and device for parking a vehicle |
| CN101311746A (en) * | 2007-05-24 | 2008-11-26 | 李世雄 | Vehicular obstacle detection device capable of indicating obstacle distance |
| CN101409092A (en) * | 2007-09-26 | 2009-04-15 | 株式会社电装 | In-vehicle information apparatus and in-vehicle multi-media system |
| CN101582164A (en) * | 2009-06-24 | 2009-11-18 | 北京锦恒佳晖汽车电子系统有限公司 | Image processing method of parking assist system |
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