CN105388477A - Vehicle radar adjustment control method - Google Patents
Vehicle radar adjustment control method Download PDFInfo
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- CN105388477A CN105388477A CN201510716790.8A CN201510716790A CN105388477A CN 105388477 A CN105388477 A CN 105388477A CN 201510716790 A CN201510716790 A CN 201510716790A CN 105388477 A CN105388477 A CN 105388477A
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9315—Monitoring blind spots
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The present invention provides a vehicle radar adjustment control method, belonging to the technical field of automobiles. The problems of complex structure and small blind area detection range in the prior art are solved. The method comprises the steps of (1) judging whether a current radar array needs to be adjusted or not, if so, completing the correction of a radar array initial angle through a swing mechanism, and if not, entering into a normal working state, (2) after entering into the normal working state, judging the driving state of a vehicle at a next time, selecting a corresponding working mode in a working mode selector according to a judgment result, adjusting the radar array to a needed angle through the swing mechanism, and entering into a radar array swing angle adjustment period, and (3) in the radar array swing angle adjustment period, through an adaptive algorithm, maintaining the angle of the radar array at a needed adjustment angle. According to the method, while the cost of a whole automobile is reduced, the range of the blind area detection is increased.
Description
Technical field
The invention belongs to automobile technical field, relate to a kind of Radar for vehicle adjustment control method.
Background technology
In vehicle travel process, driver observes road and the vehicle condition at vehicle both sides and rear by the rearview mirror of front window both sides.Because the visual field of vehicle mirrors is not enough, in driver drives vehicle way, there is the blind area of visualization in its vehicle window both sides, driver cannot observe in this region whether have vehicles or pedestrians by rearview mirror all the time.Therefore, in the driving such as vehicle lane change, doubling link, there is potential safety hazard.
For the blind zone problem of above-mentioned existence, at present a large amount of automobile avoids blind zone problem by being equipped with active safety radar, radar arrangement is fixed, because detection angles is limited, for reducing check frequency, need intensive layout radar and increase overlapping region as far as possible, causing the waste of the actual use of radar.And in fact, vehicle operation in lane change, overtake other vehicles, exist different to the demand of radar coverage under the different operating mode such as reversing, fixing conventional radar is arranged can not whole these operating modes of optimal-adaptive, and therefore traditional radar is arranged to exist and compromised.In addition, when single radar breaks down, for the purpose of safety, whole system cisco unity malfunction can be caused and lost efficacy.
In addition, existing Chinese patent literature also discloses a kind of vehicle blind zone dynamic monitoring system and method [application number: CN201410809623.3] thereof, blind area dynamic monitoring system is according to vehicle operating parameters, transport condition, the driving intention of road conditions and driver carries out detecting real-time to the vehicle in adjacent lane and adjacent lane blind area, performance analysis and sound and light alarm, monitoring system is done dynamic conditioning can obtain different search coverages to being arranged in vehicle body both sides ultrasonic probe pumping signal, Signal Pretreatment unit receives faint barrier reflection wave signal to probe to carry out signal to noise ratio (S/N ratio) assessment and does Gain tuning to obtain the echoed signal compared with high s/n ratio to the signal amplification circuit in probe.This invention needs to realize blind area safety warning function, complex structure by the master and slave control framework of system, and the ultrasonic probe being arranged in vehicle body both sides in this invention is for being fixedly installed, and investigative range is little, and be not suitable for the use under various working, usable range is little.
Summary of the invention
The object of the invention is to there are the problems referred to above for existing technology, propose a kind of Radar for vehicle adjustment control method, this Radar for vehicle adjustment control method technical matters to be solved is: the scope how improving check frequency reducing integral vehicle cost while.
Object of the present invention realizes by following technical proposal: a kind of Radar for vehicle adjustment control method, it is characterized in that, the method comprises the steps:
Step one: judge that current radar array is the need of adjustment by angular transducer, if desired, then completed the correction of radar array initial angle by tilting mechanism; If do not need, then enter normal operating conditions;
Step 2: after entering normal operating conditions, first the transport condition of vehicle subsequent time is judged according to driver intention and vehicle current running state, from mode of operation selector switch, corresponding mode of operation is obtained according to judged result, and then according to the angular setting data prestored under mode of operation, by tilting mechanism, radar array is adjusted to the angle of needs, then enter the radar array pendulum angle adjusting stage;
Step 3: in the radar array pendulum angle adjusting stage, by adaptive algorithm, regulates the angle upgrading required radar array adaptively according to Current vehicle transport condition.
This Radar for vehicle adjustment control method, first the initial angle of radar array is corrected, the transport condition of vehicle subsequent time is judged again according to driver intention and vehicle current running state, if the transport condition of vehicle subsequent time is left and road, then need, according to this mode of operation, radar array is adjusted to default angle value, make left and road time, blind area can be reduced by the angular setting of radar array, improve traffic safety, after to radar array angular setting, in vehicle travel process, may skew be there is in the angle of radar array, affect result of use, then need to carry out adaptive renewal adjustment by the angle of adaptive algorithm to adjustment, to ensure that the angle adjusted can in setting range.
In above-mentioned Radar for vehicle adjustment control method, in described step one, described radar array comprises the radar element one and radar element two that are arranged on headstock both sides and the radar element three being arranged on tailstock both sides and radar element four, described radar element one, radar element two, radar element three are respectively connected a tilting mechanism with radar element four, and each radar element realizes angular setting by respective tilting mechanism.Only four radar elements need be set, by respective tilting mechanism, the mode of operation different according to vehicle, can control respectively to four radar elements, realize the detection reaching the widest scope with minimum radar number, avoid the detection blind area in surface level to greatest extent.
In above-mentioned Radar for vehicle adjustment control method, in described step one, timing is being carried out to radar array, by tilting mechanism, each radar element in radar array is being adjusted to vertical vehicle headstock respectively, is undertaken being confirmed whether correction by angular transducer.The angle correcting radar array can be subsequent time angular adjustment and improves degree of accuracy, and simplifies the operation.
In above-mentioned Radar for vehicle adjustment control method, in described step one, before judging that radar array is the need of adjustment, first judge whether radar array exists fault, show the installation site of fault radar element when radar array exists fault, and then fault is got rid of.After the initialization of Radar for vehicle regulatory function, first judge whether to there is fault, this deterministic process can improve traffic safety, avoid in the process of moving, corresponding radar can not play suggesting effect, also when single radar breaks down, can meet an urgent need and sexually revise the emission angle closing on radar, avoid systemic-function complete failure simultaneously.
In above-mentioned Radar for vehicle adjustment control method, in described step one, when judging that radar array needs adjustment, also need to judge whether vehicle is in halted state, if be in halted state, then adjustment is carried out to radar array, if not halted state, then enter normal operating conditions.Before to radar array adjustment, also judge whether vehicle is in halted state, the judgement of this step, can traffic safety be improved, avoid carrying out adjustment in motion, make radar array there is erroneous judgement and incur loss through delay the situation of the result of use under relevant work pattern.
In above-mentioned Radar for vehicle adjustment control method, in described step 2, judge that the data of vehicle subsequent time transport condition comprise gear signal, steering indicating light signal, steering wheel angle signal, accelerator pedal signal and brake pedal signal.By this several signal above-mentioned, and in conjunction with the transport condition of current time, effectively can judge that vehicle is in state of rolling backward, parking stall outbound state, and road or and road, accuracy of judgement degree is high left to the right.
In above-mentioned Radar for vehicle adjustment control method, in described step 2, store the corresponding radar array angular adjustment data of multiple-working mode and multiple-working mode in described mode of operation selector switch, wherein multiple-working mode comprises reversing mode of operation, lane change mode of operation left, lane change mode of operation to the right and parking stall outbound mode of operation.Radar array angular adjustment data are obtained by repetition test, make radar array when carrying out angular adjustment, can increase the scope that blind area is detected, improve the accuracy of adjustment simultaneously, improve the traffic safety of vehicle.
In above-mentioned Radar for vehicle adjustment control method, in described step 3, described adaptive algorithm is the adaptive filter algorithm based on least mean square algorithm.Adaptive filter algorithm based on least mean square algorithm has the good advantage with parameter being adjusted to automatically optimum condition of tracking performance.
In above-mentioned Radar for vehicle adjustment control method, in described step 3, in the radar array pendulum angle adjusting stage, whether real-time judge completes the angular setting under current operation mode, after completing the angular setting under current operation mode, return step 2.In this step, do not need to correct radar array, directly can enter into the step that step 2 judges vehicle subsequent time transport condition, this method simplifies operation steps, radar array can be made directly to enter the angle of subsequent time transport condition needs adjustment, avoid the situation occurring blind area in trimming process, improve traffic safety.
Compared with prior art, this Radar for vehicle adjustment control method has the following advantages:
1, the present invention by only arranging four radar elements, can realize the detection of wider scope, avoiding the detection blind area in surface level to greatest extent, significantly reduce integral vehicle cost.
2, the present invention forms adjustable radar array by multiple radar element and realizes co-ordination, reliability and the redundancy complementary capabilities of system can be improved, single radar component failure is avoided to cause systemic-function to lose efficacy, simultaneously by the collaborative swing of multiple radar element, reduce radar closely or the check frequency scope of diverse location to greatest extent.
Accompanying drawing explanation
Fig. 1 is control flow chart of the present invention.
Embodiment
Be below specific embodiments of the invention and by reference to the accompanying drawings, technical scheme of the present invention is further described, but the present invention be not limited to these embodiments.
As shown in Figure 1, this Radar for vehicle adjustment control method comprises the steps:
Step one: first judge whether radar array exists fault, the installation site of fault radar element is shown when radar array exists fault, and then fault is got rid of, after failture evacuation or when there is not fault, judge that current radar array is the need of adjustment by angular transducer, if desired, judge whether vehicle is in halted state, if be in halted state, then adjustment is carried out to radar array, completed the correction of radar array initial angle by tilting mechanism; If not halted state or do not need adjustment, then enter normal operating conditions;
Step 2: after entering normal operating conditions, first the transport condition of vehicle subsequent time is judged according to driver intention and vehicle current running state, from mode of operation selector switch, corresponding mode of operation is obtained according to judged result, and then according to the angular setting data prestored under mode of operation, by tilting mechanism, radar array is adjusted to the angle of needs, then enter the radar array pendulum angle adjusting stage;
Step 3: in the radar array pendulum angle adjusting stage, by adaptive algorithm, regulates the angle upgrading required radar array adaptively according to Current vehicle transport condition.
Specifically,
In step, radar array comprises the radar element one and radar element two that are arranged on headstock both sides and the radar element three being arranged on tailstock both sides and radar element four, described radar element one, radar element two, radar element three and radar element four are connected respectively a tilting mechanism, and each radar element realizes angular setting by respective tilting mechanism.All adjustable at least 180 ° of the angle of its radar element one, radar element two, radar element three and radar element four, if the angle arranged with radar element one, radar element two, radar element three and radar element four forward is for correcting final angle, the radar element being so arranged on vehicle left side at least can adjust left 120 °, adjust 60 ° to the right, the radar element being arranged on vehicle right side then at least can adjust left 60 °, adjusts 120 ° to the right.If four radar elements only need be arranged, by respective tilting mechanism, the mode of operation different according to vehicle, can control respectively to four radar elements, realize the detection reaching the widest scope with minimum radar number, avoid the detection blind area in surface level to greatest extent.
In step one, timing is being carried out to radar array, by tilting mechanism, each radar element in radar array is being adjusted to vertical vehicle headstock respectively, is undertaken being confirmed whether correction by angular transducer.Particularly, the correction angle of radar array is with the probe of radar element one and radar element two to right ahead, and namely vertical headstock is arranged, and the probe of radar element three and radar element four is to vehicle dead astern, and namely the vertical tailstock is arranged.The angle correcting radar array can be subsequent time angular adjustment and improves degree of accuracy, and simplifies the operation.
In step 2, if judge in step one, vehicle is not as halted state, and also need the initial angle considering radar array when adjusting radar array angle, its initial angle is undertaken detecting and storing by angular transducer.Consider initial angle, the accuracy that radar angular regulates can be improved.
In step 2, judge that the data of vehicle subsequent time transport condition comprise gear signal, steering indicating light signal, steering wheel angle signal, accelerator pedal signal and brake pedal signal.By this several signal above-mentioned, and in conjunction with the transport condition of current time, effectively can judge that vehicle is in state of rolling backward, parking stall outbound state, and road or and road, accuracy of judgement degree is high left to the right.
In step 2, store the corresponding radar array angular adjustment data of multiple-working mode and multiple-working mode in mode of operation selector switch, wherein multiple-working mode comprises reversing mode of operation, lane change mode of operation left, lane change mode of operation to the right and parking stall outbound.Wherein, if radar element one and radar element three are arranged on vehicle left side, radar element two and radar element four are arranged on vehicle right side, then the radar array angular adjustment data of corresponding reversing mode of operation are that radar element three is adjusted 45 °-65 ° to the right, radar element four adjusts 45 °-65 ° left, make the investigative range of radar cover vehicle tail, make vehicle tail reduce blind area, the angle of radar element one and radar element two does not adjust; The radar array angular adjustment data of corresponding lane change mode of operation are left that radar element one and radar element three are adjusted 115 °-125 ° left, radar element two and radar element four are adjusted 45 °-65 ° left, make vehicle left side reduce blind area, also make headstock and the tailstock avoid blind area simultaneously; The radar array angular adjustment data of corresponding lane change mode of operation are to the right that radar element one and radar element three are adjusted 45 °-65 ° to the right, radar element two and radar element four are adjusted 115 °-125 ° to the right, make vehicle right side reduce blind area, also make headstock and the tailstock avoid blind area simultaneously; Radar array angular adjustment data for parking stall outbound mode of operation are dynamic angle of radar element one, radar element three, radar element two and radar element four being swung sideward accordingly, as radar element one and dynamic 25 °-35 ° of radar element three-dimensional left swing, radar element two and radar element four swing 25 °-35 ° to the right.Radar array angular adjustment data are obtained by repetition test, make radar array when carrying out angular adjustment, can increase the scope that blind area is detected, improve the accuracy of adjustment simultaneously, improve the traffic safety of vehicle.
In step 3, adaptive algorithm is the adaptive filter algorithm based on least mean square algorithm.Adaptive filter algorithm based on least mean square algorithm has the good advantage with parameter being adjusted to automatically optimum condition of tracking performance.
In step 3, in the radar array pendulum angle adjusting stage, whether real-time judge completes the angular setting under current operation mode, returns in step 2 the step judging vehicle subsequent time transport condition after completing the angular setting under current operation mode.In this step, do not need to correct radar array, directly can enter into the step that step 2 judges vehicle subsequent time transport condition, this method simplifies operation steps, radar array can be made directly to enter the angle of subsequent time transport condition needs adjustment, avoid the situation occurring blind area in trimming process, improve traffic safety.
The detailed process of this Radar for vehicle adjustment control method is:
After carrying out initialization, first judge whether radar array exists fault, the installation site of fault radar element is shown when radar array exists fault, and then fault is got rid of, after failture evacuation or when there is not fault, judge that current radar array is the need of adjustment by angular transducer, if desired, judge whether vehicle is in halted state, if be in halted state, then adjustment is carried out to radar array, the correction of radar array initial angle is completed by tilting mechanism, even if the radar element one arranging headstock in radar array headstock vertical with radar element two is arranged, radar element three tailstock vertical with radar element four being arranged on the tailstock is arranged, if not halted state or do not need adjustment, then enter normal operating conditions, after entering normal operating conditions, first the transport condition of vehicle subsequent time is judged according to driver intention and vehicle current running state, be specially, if vehicle current running state is for keeping straight on, according to gear signal, steering indicating light signal, steering wheel angle signal, accelerator pedal signal and brake pedal signal carry out comprehensive descision, then from mode of operation selector switch, obtain corresponding mode of operation according to this judged result of subsequent time transport condition, if judge that subsequent time transport condition is as and road left, then select the mode of operation in also road left, according to the angular setting data that prestore left and under road mode of operation, by tilting mechanism by the radar element one in radar array, radar element two, radar element three and radar element four adjust corresponding angle left respectively, it is made to reduce vehicle left side blind area, after adjusting the angle of radar array, enter the radar array pendulum angle adjusting stage, in the radar array pendulum angle adjusting stage, by adaptive algorithm, the angle of radar array is remained in required angle, avoid vehicle in the process of moving angular deflection to occur, affect the situation of traffic safety and reduction check frequency scope.
Specific embodiment described herein is only to the explanation for example of the present invention's spirit.Those skilled in the art can make various amendment or supplement or adopt similar mode to substitute to described specific embodiment, but can't depart from spirit of the present invention or surmount the scope that appended claims defines.
Claims (9)
1. a Radar for vehicle adjustment control method, is characterized in that, the method comprises the steps:
Step one: judge that current radar array is the need of adjustment by angular transducer, if desired, then completed the correction of radar array initial angle by tilting mechanism; If do not need, then enter normal operating conditions;
Step 2: after entering normal operating conditions, first the transport condition of vehicle subsequent time is judged according to driver intention and vehicle current running state, from mode of operation selector switch, corresponding mode of operation is obtained according to judged result, and then according to the angular setting data prestored under mode of operation, by tilting mechanism, radar array is adjusted to the angle of needs, then enter the radar array pendulum angle adjusting stage;
Step 3: in the radar array pendulum angle adjusting stage, by adaptive algorithm, regulates the angle upgrading required radar array adaptively according to Current vehicle transport condition.
2. Radar for vehicle adjustment control method according to claim 1, it is characterized in that, in described step one, described radar array comprises the radar element one and radar element two that are arranged on headstock both sides and the radar element three being arranged on tailstock both sides and radar element four, described radar element one, radar element two, radar element three are respectively connected a tilting mechanism with radar element four, and each radar element realizes angular setting by respective tilting mechanism.
3. Radar for vehicle adjustment control method according to claim 2, it is characterized in that, in described step one, timing is being carried out to radar array, by tilting mechanism, each radar element in radar array is adjusted to vertical vehicle headstock respectively, is undertaken being confirmed whether correction by angular transducer.
4. Radar for vehicle adjustment control method according to claim 3, it is characterized in that, in described step one, before judging that radar array is the need of adjustment, first judge whether radar array exists fault, show the installation site of fault radar element when radar array exists fault, and then fault is got rid of.
5. Radar for vehicle adjustment control method according to claim 4, it is characterized in that, in described step one, when judging that radar array needs adjustment, also need to judge whether vehicle is in halted state, if be in halted state, then adjustment is carried out to radar array, if not halted state, then enter normal operating conditions.
6. Radar for vehicle adjustment control method according to claim 1, it is characterized in that, in described step 2, judge that the data of vehicle subsequent time transport condition comprise gear signal, steering indicating light signal, steering wheel angle signal, accelerator pedal signal and brake pedal signal.
7. Radar for vehicle adjustment control method according to claim 6, it is characterized in that, in described step 2, store the corresponding radar array angular adjustment data of multiple-working mode and multiple-working mode in described mode of operation selector switch, wherein multiple-working mode comprises reversing mode of operation, lane change mode of operation left, lane change mode of operation to the right and parking stall outbound mode of operation.
8. Radar for vehicle adjustment control method according to claim 1, is characterized in that, in described step 3, described adaptive algorithm is the adaptive filter algorithm based on least mean square algorithm.
9. the Radar for vehicle adjustment control method according to claim 1 or 8, it is characterized in that, in described step 3, in the radar array pendulum angle adjusting stage, whether real-time judge completes the angular setting under current operation mode, after completing the angular setting under current operation mode, return step 2.
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| CN201510716790.8A CN105388477B (en) | 2015-10-29 | 2015-10-29 | A kind of Radar for vehicle adjustment control method |
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| CN201510716790.8A CN105388477B (en) | 2015-10-29 | 2015-10-29 | A kind of Radar for vehicle adjustment control method |
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| CN106646488A (en) * | 2017-01-12 | 2017-05-10 | 京东方科技集团股份有限公司 | Vehicle-mounted road obstacle detecting system |
| CN109421739A (en) * | 2017-08-28 | 2019-03-05 | 通用汽车环球科技运作有限责任公司 | Method and apparatus for monitoring autonomous vehicle |
| CN109521428A (en) * | 2018-12-11 | 2019-03-26 | 安徽江淮汽车集团股份有限公司 | A kind of dynamic lane width gate method effectively reducing blind monitoring system rate of failing to report |
| CN110275167A (en) * | 2019-06-03 | 2019-09-24 | 浙江吉利控股集团有限公司 | A kind of control method of radar detection, controller and terminal |
| CN110703216A (en) * | 2019-10-21 | 2020-01-17 | 苏州豪米波技术有限公司 | Radar adjustment system, adjustment method and radar device |
| CN113625234A (en) * | 2020-05-06 | 2021-11-09 | 上海海拉电子有限公司 | Installation angle correction method of vehicle radar and vehicle radar |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109521428A (en) * | 2018-12-11 | 2019-03-26 | 安徽江淮汽车集团股份有限公司 | A kind of dynamic lane width gate method effectively reducing blind monitoring system rate of failing to report |
| CN110275167A (en) * | 2019-06-03 | 2019-09-24 | 浙江吉利控股集团有限公司 | A kind of control method of radar detection, controller and terminal |
| CN110703216A (en) * | 2019-10-21 | 2020-01-17 | 苏州豪米波技术有限公司 | Radar adjustment system, adjustment method and radar device |
| CN113625234A (en) * | 2020-05-06 | 2021-11-09 | 上海海拉电子有限公司 | Installation angle correction method of vehicle radar and vehicle radar |
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| Publication number | Publication date |
|---|---|
| CN105388477B (en) | 2018-07-20 |
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