CN104678402A - Parking assistant radar scheduling method - Google Patents
Parking assistant radar scheduling method Download PDFInfo
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- CN104678402A CN104678402A CN201510131553.5A CN201510131553A CN104678402A CN 104678402 A CN104678402 A CN 104678402A CN 201510131553 A CN201510131553 A CN 201510131553A CN 104678402 A CN104678402 A CN 104678402A
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- drive singal
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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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- 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
- G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a parking assistant radar scheduling method which comprises the following steps: after the start of one-time radar scheduling, drive signals are alternately transmitted to one sensor of a front radar and one sensor of a rear radar so as to activate the corresponding sensors to emit ultrasonic waves for obstacle detection, until all sensors of the front radar and all sensors of the rear radar transmit the drive signals once respectively, and then the current one-time radar scheduling is completed; a time interval for transmitting two adjacent drive signals to the sensors of the front radar and a time interval for transmitting two adjacent drive signals to the sensors of the rear radar are both not less than the set safety time, the safety time is the minimal time for making two adjacent sensors in the installation position work properly. The parking assistant radar scheduling method can shorten the time for one-time radar scheduling by a half, so as to effectively improve the reaction sensitivity and detection accuracy of a parking assistant system.
Description
Technical field
The present invention relates to ancillary technique of parking, particularly relate to the radar dispatching method of parking auxiliary.
Background technology
Present stage, reverse radar system was applied to automobile market very maturely, reverse radar system is automobile tail sensor installation (being specially ultrasonic sensor), and after sensor detects barrier, trigger the warning that hummer sends, like this, driver just can according to the situation at alarm decision car rear.Through the development of body electronics and the demand in market, simple reverse radar system cannot meet the demand of client, although reversing visible system compensate for the deficiency of reverse radar system, but radar has become the trend of the market demand before increasing, just there is the parking assisting system with front radar and rear radar in this, this kind of parking assisting system makes driver can be judged the barrier of vehicle periphery by the sensor of front radar and rear radar, and the monitoring therefore added in the process of parking vehicle front blind area, effectively increase the security of parking.Existing parking assisting system.
As shown in Figure 1, for most of parking assisting system, its front radar has four sensors and (is specially ultrasonic sensor, or in ultrasonic probe), be respectively two two side sensers and two intermediate sensor, two side sensers comprise front left sensor FL and front right sensor FR, and intermediate sensor to comprise in front left sensor FRM in sensor FLM and front right; Thereafter radar has four sensors equally, is respectively two two side sensers and two intermediate sensor, and two side sensers comprise rear left sensor RL and rear right sensor RR, and intermediate sensor to comprise in rear left sensor RRM in sensor RLM and rear right.
For the parking assisting system shown in Fig. 1, as shown in Figure 2, it is when carrying out parking auxiliary control, usually the front investigative range of four of front radar sensors is all divided into four front search coverages from the close-by examples to those far off, and five the rear search coverages rear investigative range of four of rear radar sensors is all divided into from the close-by examples to those far off, be specially: four sensors of front radar have and four corresponding separately front search coverages respectively, wherein, first front search coverage FL1 of four sensors, FLM1, FRM1, FR1 is greater than or equal to the first default front truck distance, second front search coverage FL2, FLM2, FRM2, FR2 is greater than or equal to the second default front truck distance, be less than the first front truck distance, 3rd front search coverage FL3, FLM3, FRM3, FR3 is greater than or equal to the 3rd default front truck distance, be less than the second front truck distance, 4th front search coverage FL4, FLM4, FRM4, FR4 is less than the 3rd front truck distance, first rear search coverage RL1, RLM1, RRM1, RR1 is greater than or equal to the first default rear car distance, second rear search coverage RL2, RLM2, RRM2, RR2 is greater than or equal to the second default rear car distance, be less than described first rear car distance, 3rd rear search coverage RL3, RLM3, RRM3, RR3 is greater than or equal to the 3rd default rear car distance, be less than described second rear car distance, 4th rear search coverage RL4, RLM4, RRM4, RR4 is greater than or equal to the 4th default rear car distance, be less than described 3rd rear car distance, 5th rear search coverage RL5, RLM5, RRM5, RR5 is less than the 4th rear car distance.At this, above-mentioned first to the 3rd front truck is apart from setting according to the investigative range of sensor and on the impact of traffic safety, known according to the above description, wherein first, second, 3rd front truck is apart from tapering off trend, such as, above-mentioned first front truck distance is 1000mm, second front truck distance is 600mm, 3rd front truck distance is 350mm, wherein, first front search coverage FL1 of above-mentioned four sensors, FLM1, FRM1, FR1, and two second front search coverage FL2 of side senser, FR2 is traffic safety district, namely nearest barrier is safe in this region, front hummer does not pipe, second front search coverage FLM2, the FRM2 of two intermediate sensor are jogging district, the 3rd front search coverage FL3, FLM3, FRM3, FR3 of four sensors are warning district, and the 4th front search coverage FL4 of four sensors, FLM4, FRM4, FR4 are explosive area.In like manner, above-mentioned first to fourth rear car is apart from setting according to the investigative range of sensor and on the impact of traffic safety, known according to the above description, wherein first, second, 3rd, 4th rear car is apart from tapering off trend, such as, above-mentioned first rear car distance is 1500mm, second rear car distance is 1000mm, 3rd rear car distance is 600mm, 4th rear car distance is 350mm, wherein, first rear search coverage RL1 of above-mentioned four sensors, RLM1, RRM1, RR1, and two second rear search coverage RL2 of side senser, RR2 and the 3rd rear search coverage RL3, RR3 is traffic safety district, namely nearest barrier is safe in this region, rear hummer does not pipe, second rear search coverage RLM2 of two intermediate sensor, RRM2 are pre-police region, 3rd rear search coverage RLM3, the RRM3 of two intermediate sensor are jogging district, the 4th rear search coverage RL4, RLM4, RRM4, RR4 of four sensors are warning district, and the 5th rear search coverage RL5 of four sensors, RLM5, RRM5, RR5 are explosive area.
According to above-mentioned secondary control scheme of parking, as shown in Figure 1, the controller U1 of parking assisting system detect driver through the auxiliary switch KPAS that parks export park auxiliary start signal time, or when detecting that gear level is switched to reverse gear shift (R gear), namely when triggering R position switch KR exports and reverses gear signal, often once dispatch and just need to send drive singal to each sensor successively by rigid line interval setting-up time, to activate each sensor successively, and then make each sensor launch ultrasound wave successively to carry out obstacle detection, such as the problem that adjacent sensors is disturbed mutually to avoid occurring, this disturbs the ultrasound wave being mainly reflected in a sensor emission can be received by the sensor of other close together mutually, and to be mistaken for by other sensor be oneself issued hyperacoustic echo, mistake is there is in this by directly causing the distance of sensor to detect.Based on this object, above-mentioned setting-up time is not easily too short, usually should be greater than or equal to 30ms, this reduces the synchronism of each sensor in each scheduling, and the time making controller once dispatch is longer, and then have impact on sensitivity and the degree of accuracy of parking assisting system.
Summary of the invention
The object of the embodiment of the present invention is the problem that time is longer and synchronism is poor existed to solve existing radar dispatching method, provides a kind of radar dispatching method that can improve parking assisting system sensitivity and degree of accuracy.
To achieve these goals, the technical solution used in the present invention is: a kind of radar dispatching method of parking auxiliary, comprising:
After the scheduling of beginning primary radar, drive singal is sent alternately to a sensor of front radar and a sensor of rear radar, carry out obstacle detection to activate respective sensor transmitting ultrasound wave, till all the sensors of radar and all the sensors of rear radar respectively send once described drive singal forward, complete the scheduling of current primary radar; Wherein, forward radar sensor send adjacent two drive singal interval greater than or equal set safety time, backward radar sensor send adjacent two drive singal interval greater than or equal described safety time, described safety time is the shortest time of two normal operation of sensor making installation site adjacent.
Preferably, a sensor transmission drive singal of a described sensor alternately to front radar and rear radar comprises:
The setting-up time that interval is fixed sends drive singal alternately to a sensor of front radar and a sensor of rear radar, and described setting-up time is greater than or equal to the described safety time of half, and is less than described safety time.
Preferably, described safety time is greater than or equal to 30ms.
Preferably, a sensor transmission drive singal of a described sensor alternately to front radar and rear radar comprises:
Send drive singal alternately to a sensor of front radar and a sensor of rear radar, and a sensor of first radar backward sends described drive singal.
Preferably, described method also comprises:
Carrying out in primary radar scheduling, each sensor of radar sends described drive singal forward in turn; And/or,
Carrying out in primary radar scheduling, each sensor of radar sends described drive singal backward in turn.
Preferably, described front radar to comprise in front left sensor that the front end cambered surface along automobile arranges from left to right in turn, front left sensor and front right sensor in sensor, front right, and described rear radar to comprise in rear left sensor that the rear end cambered surface along automobile arranges from left to right in turn, rear left sensor and rear right sensor in sensor, rear right.
Preferably, a sensor transmission drive singal of a described sensor alternately to front radar and rear radar comprises:
Described drive singal is sent successively to sensor, rear right sensor and front right sensor in sensor, front right in sensor, rear right in sensor, front left in rear left sensor, front left sensor, rear left.
Beneficial effect of the present invention is, radar dispatching method of parking auxiliary of the present invention utilizes the space length between front radar sensor and rear radar sensor larger, and the ultrasound wave that front radar sensor is launched is contrary with the ultrasound wave direction that rear radar sensor is launched, therefore the feature of interference mutually can not be there is, can the time shorten half of primary radar scheduling be carried out by the mode sending drive singal alternately to a sensor of front radar and a sensor of rear radar, and then effectively can improve reaction sensitivity and the detection degree of accuracy of parking assisting system.
Accompanying drawing explanation
Fig. 1 shows a kind of frame principle figure implementing structure of existing parking assisting system;
Fig. 2 shows the front radar sensor of existing parking assisting system and a kind of arrangement of rear radar sensor;
Fig. 3 shows each according to radar dispatching method scheduling graph 2 of parking auxiliary of the present invention biography
The scheduling sequential chart of sensor.
Description of reference numerals:
U1-controller; KPAS-parks auxiliary switch;
KR-R position switch; KEPB-electronic parking switch;
TCU-automatic gear-box control module; ESC-Electronic Stability Program (ESP) control system;
FL-front left sensor; FR-front right sensor;
Sensor in FLM-front left; Sensor in FRM-front right;
RL-rear left sensor; RR-rear right sensor;
Sensor in RLM-rear left; Sensor in RRM-rear right.
Embodiment
Be described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Being exemplary below by the embodiment be described with reference to the drawings, only for explaining the present invention, and can not limitation of the present invention being interpreted as.
The present invention in order to the synchronism of each sensor in each scheduling solving existing backup radar dispatching method of parking and exist poor, carry out scheduling time longer problem, provide a kind of effectively can improve parking assisting system reaction sensitivity and the radar dispatching method of detection degree of accuracy, this kind of radar dispatching method is specially: after the scheduling of beginning primary radar, drive singal is sent alternately to a sensor of front radar and a sensor of rear radar, obstacle detection is carried out to activate respective sensor transmitting ultrasound wave, the scheduling of current primary radar is completed till all the sensors of radar and all the sensors of rear radar respectively send once described drive singal forward, wherein, forward radar sensor send adjacent two drive singal interval greater than or equal set safety time, interference is mutually there is to prevent two sensors of the priority action of front radar, namely the hyperacoustic echo preventing from the sensor of first action the ultrasound wave of the sensor emission of rear action to be mistaken for its own transmission going out, in like manner, backward radar sensor send adjacent two drive singal interval greater than or equal described safety time, interference is mutually there is to prevent two sensors of the priority action of rear radar, for this reason, this safety time should be the shortest time of two normal operation of sensor (namely above-mentioned mutual interference does not occur) making installation site adjacent, for the general arrangement of radar front in parking assisting system as depicted in figs. 1 and 2 and rear radar, this safety time is greater than or equal to 30ms usually, therefore, in order to make the time of carrying out primary radar scheduling short as much as possible, in the present invention, the time interval of adjacent two drive singal that the sensor of radar forward can be made to send equals this safety time, and the time interval of adjacent two drive singal making the sensor of radar backward send equals this safety time.
At this, radar dispatching method of the present invention random order can activate each sensor of front radar and each sensor of rear radar, and first can activate a sensor of rear radar, also first can activate a sensor of front radar.
Radar dispatching method of parking auxiliary of the present invention utilizes the space length between front radar sensor and rear radar sensor larger, and the ultrasound wave that front radar sensor is launched is contrary with the ultrasound wave direction that rear radar sensor is launched, therefore the feature of interference mutually can not be there is, can the time shorten half of primary radar scheduling be carried out by the mode sending drive singal alternately to a sensor of front radar and a sensor of rear radar, and then effectively can improve reaction sensitivity and the detection degree of accuracy of parking assisting system.
For the ease of the enforcement of radar dispatching method of the present invention, a sensor of an above-mentioned sensor alternately to front radar and rear radar sends drive singal and may further be: the setting-up time that interval is fixed sends drive singal alternately to a sensor of front radar and a sensor of rear radar, described setting-up time is greater than or equal to the safety time of half, and be less than safety time, particularly equal the safety time of half, when safety time equals 30ms, the most I of this setting-up time is defined as 15ms.
Due to open driver park auxiliary switch or gear level is changed to reverse gear shift (R gear) time, the quick response effect of rear radar is more outstanding, therefore, a sensor of an above-mentioned sensor alternately to front radar and rear radar sends drive singal and may further be: send drive singal alternately to a sensor of front radar and a sensor of rear radar, and a sensor of first radar backward sends described drive singal.
Exist overlapping between search coverage due to adjacent two sensors in installation site, system can with reference to the result of detection of adjacent two sensors when carrying out obstacle detection, therefore, improve the action synchronism of two adjacent sensors of installation site in once dispatching, just can improve reaction sensitivity and detection degree of accuracy further.For this reason, method of the present invention can also comprise: carrying out in primary radar scheduling, each sensor of radar sends described drive singal forward in turn; And/or carrying out in primary radar scheduling, each sensor of radar sends described drive singal backward in turn; Each sensor due to front radar arranges in turn from left to right along the front end cambered surface of automobile, each sensor of rear radar arranges in turn from left to right along the rear end cambered surface of automobile, therefore, " in turn " herein can according to from left to right or dextrosinistral order.
Such as, be applied in parking assisting system as depicted in figs. 1 and 2 by radar dispatching method of the present invention, namely its front radar comprises the front left sensor FL that the front end cambered surface along automobile is arranged from left to right in turn, sensor FLM in front left, sensor FRM and front right sensor FR in front right, radar comprises the rear left sensor RL that the rear end cambered surface along automobile is arranged from left to right in turn thereafter, sensor RLM in rear left, sensor RRM and rear right sensor RR in rear right, be after the scheduling of beginning primary radar, a sensor alternately to a sensor of front radar and rear radar sends drive singal, until the front left sensor FL of radar forward, sensor FLM in front left, the rear left sensor RL of sensor FRM and front right sensor FR and rear radar in front right, sensor RLM in rear left, complete till in rear right, sensor RRM and rear right sensor RR respectively sends once this drive singal current primary radar scheduling, such as can adopt as shown in Figure 3 successively to rear left sensor RL, front left sensor FL, sensor RLM in rear left, sensor FLM in front left, sensor RRM in rear right, sensor FRM in front right, rear right sensor RR and front right sensor FR sends this drive singal.
Fig. 3 shows the setting-up time utilizing radar dispatching method interval of the present invention fixing, send this drive singal to sensor FRM, rear right sensor RR in sensor RRM, front right in sensor FLM, rear right in sensor RLM, front left in rear left sensor RL, front left sensor FL, rear left and front right sensor FR successively, and this setting-up time is the embodiment of 15ms.
In a particular application, parking assisting system is after receiving ON gear power supply signal, namely primary radar scheduling is started, to carry out power-on self-test, if each sensor of front radar and rear radar all can normally work, then drive hummer such as to drip and respond, if there is the sensor that cannot normally work, then drive hummer such as to drip two sound to report to the police, prompting driver keeps in repair.After power-on self-test, if parking assisting system receive driver through park auxiliary switch input park auxiliary start signal or receive reaction gear level by the signal that reverses gear changed to reverse gear shift, then start circulation and perform above-mentioned radar dispatching party to carrying out distance measurement and display, radar scheduling is next time started immediately after specifically can completing the scheduling of current primary radar, also the cycle can fixed performs the scheduling of each radar, under the prerequisite that each sensor can not be caused mutually to disturb, radar scheduling next time can also be started before current primary radar scheduling does not complete.
Structure of the present invention, feature and action effect is described in detail above according to graphic shown embodiment; the foregoing is only preferred embodiment of the present invention; but the present invention does not limit practical range with shown in drawing; every change done according to conception of the present invention; or be revised as the Equivalent embodiments of equivalent variations; do not exceed yet instructions with diagram contain spiritual time, all should in protection scope of the present invention.
Claims (7)
1. a radar dispatching method of parking auxiliary, is characterized in that, comprising:
After the scheduling of beginning primary radar, drive singal is sent alternately to a sensor of front radar and a sensor of rear radar, carry out obstacle detection to activate respective sensor transmitting ultrasound wave, till all the sensors of radar and all the sensors of rear radar respectively send once described drive singal forward, complete the scheduling of current primary radar; Wherein, forward radar sensor send adjacent two drive singal interval greater than or equal set safety time, backward radar sensor send adjacent two drive singal interval greater than or equal described safety time, described safety time is the shortest time of two normal operation of sensor making installation site adjacent.
2. radar dispatching method according to claim 1, is characterized in that, a sensor of a described sensor alternately to front radar and rear radar sends drive singal and comprises:
The setting-up time that interval is fixed sends drive singal alternately to a sensor of front radar and a sensor of rear radar, and described setting-up time is greater than or equal to the described safety time of half, and is less than described safety time.
3. radar dispatching method according to claim 1 and 2, is characterized in that, described safety time is greater than or equal to 30ms.
4. radar dispatching method according to claim 1 and 2, is characterized in that, a sensor of a described sensor alternately to front radar and rear radar sends drive singal and comprises:
Send drive singal alternately to a sensor of front radar and a sensor of rear radar, and a sensor of first radar backward sends described drive singal.
5. radar dispatching method according to claim 1 and 2, is characterized in that, described method also comprises:
Carrying out in primary radar scheduling, each sensor of radar sends described drive singal forward in turn; And/or,
Carrying out in primary radar scheduling, each sensor of radar sends described drive singal backward in turn.
6. radar dispatching method according to claim 5, it is characterized in that, described front radar to comprise in front left sensor that the front end cambered surface along automobile arranges from left to right in turn, front left sensor and front right sensor in sensor, front right, and described rear radar to comprise in rear left sensor that the rear end cambered surface along automobile arranges from left to right in turn, rear left sensor and rear right sensor in sensor, rear right.
7. radar dispatching method according to claim 6, is characterized in that, a sensor of a described sensor alternately to front radar and rear radar sends drive singal and comprises:
Described drive singal is sent successively to sensor, rear right sensor and front right sensor in sensor, front right in sensor, rear right in sensor, front left in rear left sensor, front left sensor, rear left.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510131553.5A CN104678402B (en) | 2015-03-24 | 2015-03-24 | A kind of radar dispatching method for auxiliary of parking |
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| CN201510131553.5A CN104678402B (en) | 2015-03-24 | 2015-03-24 | A kind of radar dispatching method for auxiliary of parking |
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| CN104678402B CN104678402B (en) | 2017-07-28 |
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| CN105549022A (en) * | 2016-03-04 | 2016-05-04 | 陈武强 | Automobile ultrasonic detecting method and sensor |
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| CN108152805A (en) * | 2017-12-25 | 2018-06-12 | 合肥晟泰克汽车电子股份有限公司 | Car radar distance of probe algorithm |
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|---|---|
| CN104678402B (en) | 2017-07-28 |
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