CN105242276A - Ultrasonic sensor-based parking assisting system - Google Patents
Ultrasonic sensor-based parking assisting system Download PDFInfo
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- CN105242276A CN105242276A CN201510582650.6A CN201510582650A CN105242276A CN 105242276 A CN105242276 A CN 105242276A CN 201510582650 A CN201510582650 A CN 201510582650A CN 105242276 A CN105242276 A CN 105242276A
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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
- G01S15/02—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
- G01S15/08—Systems for measuring distance only
-
- 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)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses an ultrasonic sensor-based parking assisting system. The ultrasonic sensor-based parking assisting system includes an ultrasonic sensor module used for acquiring obstacle information before and after a vehicle in real time, and an ECU circuit module which controls the ultrasonic transmitting and receiving of the ultrasonic sensor module and converts pulse signals received by the ultrasonic sensor module into final obstacle distance data information, and controls the operation of a buzzer alarm output module and a display screen module according to the obstacle distance data information. According to the ultrasonic sensor-based parking assisting system of the invention, a visual and audible-combined alarm method is adopted; buzzing in different frequencies of the buzzer represent different distances from obstacles to the vehicle, and a driver can be informed of obstacle situations around the vehicle through image display of a vehicle-mounted display, and therefore, driving safety can be improved, and driving experience can be enhanced, and driving becomes more intelligent and humane.
Description
Technical field
The present invention relates to intelligent automobile field, particularly a kind of parking assisting system based on ultrasonic sensor.
Background technology
Along with the development of automobile industry, automobile pollution also brings the problems such as congestion in road and traffic hazard take place frequently while increasing.Known by statistical study: the process of parking is easy to the generation causing various accident, how to simplify the process of parking, and provide the security of the process of parking to be vital.
A kind of safety aid when parking assisting system is automobile parking, high compared to accident rate of manually parking, traditional radar for backing car degree of intelligence is low, parking assisting system improves intelligent level and the security of vehicle, reduce further the difficulty of driver driving vehicle, the automatic Pilot also for realizing vehicle in the future lays the first stone.
At present, the vehicle-mounted distance-finding method that parking assisting system is conventional mainly comprises infrared distance measurement, laser ranging, millimeter wave range finding, machine vision range finding, ultrasonic ranging etc.Compared to additive method, ultrasound wave have penetration power strong, decay little, reflection potential strong, insensitive to illumination, color, electromagnetic field, be not subject to the features such as adverse weather conditions, and ultrasonic ranging principle is simple, cost is low.Therefore, namely the present invention adopts the ultrasonic distance-measuring method based on ultrasonic sensor.
Summary of the invention
The present invention seeks to: a kind of parking assisting system based on ultrasonic sensor is provided, remove when driver parks and starts vehicle and visit brought puzzlement all around, driver is helped to clear away the defect of blind area and blurred vision, improve the security of driving, intelligent, and have more human features.
Technical scheme of the present invention is:
Based on a parking assisting system for ultrasonic sensor, comprising:
Ultrasonic sensor modules, respectively installs some ultrasonic sensors at the forward and backward bumper place of automobile, in order to the obstacle information before and after Real-time Obtaining vehicle, and is sent to ECU circuit module;
ECU circuit module, control hyperacoustic transmitting and receiving of ultrasonic sensor modules, the pulse signal that ultrasonic sensor modules receives is converted to final obstacle distance data message, and controls buzzer warning output module and display panel module work according to obstacle distance data message;
Buzzer warning output module, according to the distance of obstacle distance, ECU circuit module controls the volume of hummer and the mode that pipes;
Display panel module, utilizes the display screen of parking assisting system, the obstacle information data of real-time display vehicle parameter information, vehicle periphery and picture, and marks different distance ranges with different color regions.
Preferably, described ECU circuit module is made up of main control chip, ultrasonic transmit circuit, ultrasound wave receiving circuit, thermometric, power supply and CAN communication circuit 6 part:
Ultrasonic transmit circuit is used for controlling ultrasonic sensor modules and launches ultrasound wave;
Ultrasound wave receiving circuit is by faintly amplifying of being obtained by ultrasonic probe, clutter is filtered by filtering, again filtered signal is carried out shaping, export step signal, thus give main control chip with prompting, prove to have received echoed signal, and then confirm the time that ultrasound wave is propagated in atmosphere;
Temperature measurement module is for finding out the temperature of external environment;
Power module, is provided by vehicle power;
CAN communication circuit, makes the main control chip in this programme and vehicle carry out data transmission according to vehicle-mounted CAN communication protocol;
Main control chip, for control hyperacoustic transmitting and receiving, interrupt routine beginning and return and pulse signal be converted to final range data.
Preferably, described system is with selftest module, during system boot, first whether detection system modules can start normal work, monitoring target comprise supply voltage whether normal, ultrasonic sensor whether have the communication condition of unusual condition, parking assisting system and vehicle whether normally, whether display screen can normally show.
Preferably, described system also comprises data acquisition module, described data acquisition module comprises pulse information and on-vehicle information collection, described pulse information collection, and what collect is the temporal information that ultrasonic sensor experiences to the echo receiving reflection from launching ultrasound wave; On-vehicle information gathers, and obtains information of vehicles, comprise Vehicle Speed, acceleration and gear by CAN communication circuit.
Preferably, described system also comprises data processing module, described data processing module adopts transit time method, " detecting separately " data of the ultrasonic sensor of collection vehicle front and rear sides and " pairing detects " data, in conjunction with the installation site relation between bumper bar bumper distance transform treatment technology and each sensor, analyze the distribution of obstacles situation in investigative range, the pulse signal obtained the most at last is converted to number, the distance of barrier to vehicle, the coordinate information of barrier of barrier; Described " detecting separately " is that each ultrasonic sensor independently works in transit time method, namely receives only the echo of the transmitted wave of same sensor; Described " pairing detects " is that a certain sensor sends transmitted wave in transit time method, and its " adjacent sensors " receives the echo of this transmitted wave.
Preferred further, described system also comprises display module, described display module is shown vehicle basic parameter and the data through calculating by display screen, namely the travel speed of vehicle is shown on a display screen in real time, the warning of front and back hummer, sensor abnormality situation, barrier is to the distance value information of vehicle, obstacle distance combines with vehicle speed information, the scope of adjusting the distance divides, be respectively nearly side to detect, centre detects, a distant place detects, a most distant place detects, close to detecting and noting detecting, the corresponding different buzzer call mode of different distance ranges and color region.
Preferred further, described sensor abnormality situation comprises normally, for the moment fault and need repair a breakdown three kinds of situations, wherein, " for the moment fault " refers to the temporary fault without the need to repairing, and such as sleet, mud etc. are attached to the situation that sensor surface causes hummer to pipe continuously; " want repair a breakdown " and refer to sensor itself or software processes abnormal problem.
Preferred further, the relative position of barrier and vehicle according to vehicle dimension, sensor mounting location parameter, can also be depicted as visual pattern by described display module.
Advantage of the present invention is:
1. the parking assisting system based on ultrasonic sensor provided by the present invention, the range observation algorithm based on ultrasonic sensor that have employed, " detecting separately " combines with " match and detect ", has higher distance accuracy.
2. in the present invention, the type of alarm of parking assisting system have employed the method that audible alarm and visual alarm combine, the tweeting sound by hummer different frequency represent barrier to vehicle different distance while, also inform the barrier situation around driver vehicle by vehicle-carrying display screen employing display frame, not only increase the security of driving, more improve driving experience, make driving variable obtain more intelligent and hommization.
3. the parking assisting system in the present invention has certain use value, and its accurate distance-finding method can be used as technical foundation and the technological accumulation of the systems such as automatic parking, the early warning of side direction barrier, the detection of blind area, vehicle rear-side side, has broad application prospects.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described:
Fig. 1 is the structured flowchart based on the parking assisting system of ultrasonic sensor in the present invention;
Fig. 2 is the software workflow block diagram based on the parking assisting system of ultrasonic sensor in the present invention;
Fig. 3 is the vehicle periphery distribution of obstacles situation map based on the parking assisting system of ultrasonic sensor in the present invention.
Embodiment
embodiment:
The parking assisting system based on ultrasonic sensor in the present invention, comprises hardware system and software systems.As shown in Figure 1, wherein hardware system comprises ultrasonic sensor modules, ECU circuit module, buzzer warning output module and display panel module, wherein:
1. ultrasonic sensor modules, respectively installs 4 totally 8 ultrasonic sensors, in order to the obstacle information before and after Real-time Obtaining vehicle at the forward and backward bumper place of each automobile.
2.ECU circuit module, is made up of 6 parts such as main control chip, ultrasonic transmit circuit, ultrasound wave receiving circuit, thermometric, power supply, CAN communication.
Ultrasonic transmit circuit is used for launching ultrasound wave in official hour.
The feeble signal obtained by ultrasonic probe is amplified by ultrasound wave receiving circuit, clutter is filtered by filtering, again filtered signal is carried out shaping, export step signal, thus give main control chip with prompting, prove to have received echoed signal, and then confirm the time that ultrasound wave is propagated in atmosphere.
Temperature measurement module is for finding out the temperature of external environment, because the speed that ultrasound wave is propagated in atmosphere is main relevant with the temperature of current environment, the velocity of sound is the necessary condition of precision ranging accurately.
Power module, the power circuit in this programme provides primarily of vehicle power.
CAN communication circuit, makes the ECU in this programme can carry out data transmission with vehicle according to vehicle-mounted CAN communication protocol.
Main control chip be mainly used in controlling when carrying out hyperacoustic transmitting and receiving, interrupt routine beginning and return and how pulse signal be converted to final range data etc.
3. buzzer warning output module, according to the distance of obstacle distance, ECU circuit module controls the volume of hummer and the mode that pipes;
4. data and the pictures such as display panel module, utilizes the display screen of parking assisting system, the obstacle information of real-time display vehicle parameter information, vehicle periphery, and mark different distance ranges with different color regions; When vehicle being provided with display screen, also original screen on vehicle directly can be used.
The parking assisting system based on ultrasonic sensor in the present invention, wherein software systems adopt modular design method, comprise selftest module, data acquisition module, data processing module, display module, wherein:
1. selftest module, namely system boot carries out self-inspection, and before beginning work in every, first whether monitoring system modules can start normal work, to improve the reliability of system.The monitoring target of the selftest module in this programme comprises whether supply voltage normal, sensor whether have the communication condition of unusual condition, parking assisting system and vehicle whether normally, whether display screen normally can show these four contents.
2. data acquisition module, comprise pulse information and on-vehicle information collection, wherein: pulse information collection, what collect is the time that ultrasound wave is launched ultrasound wave in atmosphere and experienced to the echo that receiver receives reflection from transmitter, is obtained by the ultrasonic sensor modules in hardware system; On-vehicle information gathers, and obtains information of vehicles, as data such as Vehicle Speed, acceleration, gears by CAN communication.
3. data processing module, according to modularization idea, data processing module is also divided into multiple sub-function module, and wherein most important is exactly location algorithm functional module.Conventional ultrasonic ranging method has phase method and transit time method.Wherein transit time method realization is simple, low, the applicable finding range of cost is comparatively large, therefore selects the method.
At present, the working method of most reverse radar system is, each ultrasonic sensor independently works, and namely receives only the echo of the transmitted wave of same sensor, and we are referred to as " detecting separately ".As long as when having a sensor to detect with the barrier excessively near from spacing, just send alerting signal, the data that this information is single can not meet the needs of intelligent parking system far away.
In the present invention, the location algorithm of parking assisting system is on the basis of " detecting separately ", and add " pairing detects " function, namely a certain sensor sends transmitted wave, and its " adjacent sensors " receives the echo of this transmitted wave.At forward and backward two places of vehicle, merge the information of " detecting separately " and " pairing detects " that 4 ultrasonic sensors obtain respectively, in conjunction with the installation site relation between bumper distance transform treatment technology and each sensor, analyze the distribution of obstacles situation in investigative range.The pulse signal obtained the most at last is converted to the number of barrier, barrier to the information such as coordinate (i.e. particular location) of the distance of vehicle, barrier.
Through verification experimental verification, by this disposal route, not only expand the investigative range of sensor group, more improve distance accuracy.
4. display module, main task is exactly that vehicle basic parameter and the data through calculating are shown, namely the travel speed of vehicle, the warning of front and back hummer, sensor abnormality situation, barrier is shown on a display screen in real time to the information such as distance value of vehicle
Combined with vehicle speed information by obstacle distance, the scope of adjusting the distance divides, and is respectively that near side detects, centre detects, a distant place detects, a most distant place detects, close to detecting and noting detecting.The corresponding different buzzer call mode of different distance ranges and color region.
The state of each sensor of sensor abnormality situation Real-Time Monitoring: normal, for the moment fault, want repair a breakdown.Wherein, " for the moment fault " refers to the temporary fault without the need to repairing, and such as sleet, mud etc. are attached to the situation that sensor surface causes hummer to pipe continuously; " want repair a breakdown " and refer to the problem such as sensor itself or software processes exception.
The relative position of barrier and vehicle according to the parameter such as vehicle dimension, sensor mounting location, can also be depicted as visual pattern, as shown in Figure 3 by display module.Wherein, picture central authorities are the position of vehicle, and with rear view of vehicle center for true origin, vehicle left side is X-axis positive dirction, and rear view of vehicle is Y-axis positive dirction; FA, FB, FC, FD, RA, RB, RC, RD are respectively 4 ultrasonic sensors on the forward and backward bumper of vehicle; Darker curve and lighter curve represent respective sensor carries out " detecting separately " and " pairing detects " distance circular arc to barrier respectively.
Below in conjunction with accompanying drawing 2, provide the workflow of the parking assisting system that the present invention is based on ultrasonic sensor:
1., in the present embodiment, setting is the investigative range that nearly side detects when distance is less than 0.3m; Be the investigative range that centre detects when distance is greater than 0.3m and is less than 0.6m; Be the investigative range that a distant place detects when distance is greater than 0.6m and is less than 0.9m; It is the investigative range that a most distant place detects when distance is greater than 0.9m and is less than 1.5m; Be less than 3.0m when distance is greater than 1.5m and is determined with close to during object being the close investigative range detected; Be less than 6.0m when distance is greater than 3.0m and is determined with close to during object being the investigative range noting detecting.
2. first, please install parking assisting system according to correct way, and guarantee smooth surface, the cleaning of the ultrasonic sensor be arranged on bumper, that reduces that mud, rainwater be determined as closely barrier by sensor by mistake may.
3., in the present embodiment, setting is when the speed of a motor vehicle is lower than 15km/h, and parking assisting system is in running order.
4. according to the distance of buzzer call mode preliminary judgement barrier and vehicle.
If 5. surrounding environment is complicated, only still cannot parks safely according to hummer sound, the display screen of this parking assisting system please be noted the moment, screen show automatically the distribution situation of vehicle periphery barrier.
6. according to the barrier situation on display screen, in conjunction with buzzer call mode, driver, without the need to visiting, can clear away blind area all around, and safety is parked.
Although the foregoing describe specific embodiment of the invention method, should be appreciated that, these only illustrate, under the prerequisite not deviating from inventive principle and essence, can make numerous variations and amendment to these embodiments.
Claims (9)
1. based on a parking assisting system for ultrasonic sensor, it is characterized in that, comprising:
Ultrasonic sensor modules, respectively installs some ultrasonic sensors at the forward and backward bumper place of automobile, in order to the obstacle information before and after Real-time Obtaining vehicle, and is sent to ECU circuit module;
ECU circuit module, control hyperacoustic transmitting and receiving of ultrasonic sensor modules, the pulse signal that ultrasonic sensor modules receives is converted to final obstacle distance data message, and controls buzzer warning output module and display panel module work according to obstacle distance data message;
Buzzer warning output module, according to the distance of obstacle distance, ECU circuit module controls the volume of hummer and the mode that pipes;
Display panel module, utilizes the display screen of parking assisting system, the obstacle information data of real-time display vehicle parameter information, vehicle periphery and picture, and marks different distance ranges with different color regions.
2. the parking assisting system based on ultrasonic sensor according to claim 1, is characterized in that, described ECU circuit module is made up of main control chip, ultrasonic transmit circuit, ultrasound wave receiving circuit, thermometric, power supply and CAN communication circuit 6 part:
Ultrasonic transmit circuit is used for controlling ultrasonic sensor modules and launches ultrasound wave;
Ultrasound wave receiving circuit is by faintly amplifying of being obtained by ultrasonic probe, clutter is filtered by filtering, again filtered signal is carried out shaping, export step signal, thus give main control chip with prompting, prove to have received echoed signal, and then confirm the time that ultrasound wave is propagated in atmosphere;
Temperature measurement module is for finding out the temperature of external environment;
Power module, is provided by vehicle power;
CAN communication circuit, makes the main control chip in this programme and vehicle carry out data transmission according to vehicle-mounted CAN communication protocol;
Main control chip, for control hyperacoustic transmitting and receiving, interrupt routine beginning and return and pulse signal be converted to final range data.
3. the parking assisting system based on ultrasonic sensor according to claim 2, it is characterized in that: described system is with selftest module, during system boot, first whether detection system modules can start normal work, monitoring target comprise supply voltage whether normal, ultrasonic sensor whether have the communication condition of unusual condition, parking assisting system and vehicle whether normally, whether display screen can normally show.
4. the parking assisting system based on ultrasonic sensor according to claim 3, it is characterized in that: described system also comprises data acquisition module, described data acquisition module comprises pulse information and on-vehicle information collection, described pulse information collection, what collect is the temporal information that ultrasonic sensor experiences to the echo receiving reflection from launching ultrasound wave;
On-vehicle information gathers, and obtains information of vehicles, comprise Vehicle Speed, acceleration and gear by CAN communication circuit.
5. the parking assisting system based on ultrasonic sensor according to claim 4, it is characterized in that: described system also comprises data processing module, described data processing module adopts transit time method, before collection vehicle, " detecting separately " data of the ultrasonic sensor of rear both sides and " pairing detects " data, in conjunction with the installation site relation between bumper bar bumper distance transform treatment technology and each sensor, analyze the distribution of obstacles situation in investigative range, the pulse signal obtained the most at last is converted to the number of barrier, barrier is to the distance of vehicle, the coordinate information of barrier,
Described " detecting separately " is that each ultrasonic sensor independently works in transit time method, namely receives only the echo of the transmitted wave of same sensor; Described " pairing detects " is that a certain sensor sends transmitted wave in transit time method, and its " adjacent sensors " receives the echo of this transmitted wave.
6. the parking assisting system based on ultrasonic sensor according to claim 5, it is characterized in that: described system also comprises display module, described display module is shown vehicle basic parameter and the data through calculating by display screen, namely the travel speed of vehicle is shown on a display screen in real time, the warning of front and back hummer, sensor abnormality situation, barrier is to the distance value information of vehicle, obstacle distance combines with vehicle speed information, the scope of adjusting the distance divides, be respectively nearly side to detect, centre detects, a distant place detects, a most distant place detects, close to detecting and noting detecting, the corresponding different buzzer call mode of different distance ranges and color region.
7. the parking assisting system based on ultrasonic sensor according to claim 6, it is characterized in that: described sensor abnormality situation comprises normally, for the moment fault and need repair a breakdown three kinds of situations, wherein, " for the moment fault " refers to the temporary fault without the need to repairing, and such as sleet, mud etc. are attached to the situation that sensor surface causes hummer to pipe continuously; " want repair a breakdown " and refer to sensor itself or software processes abnormal problem.
8. the parking assisting system based on ultrasonic sensor according to claim 7, is characterized in that: the relative position of barrier and vehicle according to vehicle dimension, sensor mounting location parameter, can also be depicted as visual pattern by described display module.
9. the parking assisting system based on ultrasonic sensor according to claim 1, is characterized in that: the number of the ultrasonic sensor installed at the forward and backward bumper place of automobile is respectively 4.
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