CN105835785A - Automobile radar system and data processing method for automobile radar - Google Patents
Automobile radar system and data processing method for automobile radar Download PDFInfo
- Publication number
- CN105835785A CN105835785A CN201610140505.7A CN201610140505A CN105835785A CN 105835785 A CN105835785 A CN 105835785A CN 201610140505 A CN201610140505 A CN 201610140505A CN 105835785 A CN105835785 A CN 105835785A
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- radar
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- vehicle
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
- B60R2011/004—Arrangements for holding or mounting articles, not otherwise provided for characterised by position outside the vehicle
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention provides an automobile radar system and a data processing method for automobile radar. The automobile radar system comprises two radar devices and a data processing module, wherein the two radar devices are arranged in any diagonal positions of an automobile body, and the periphery of the automobile body can be covered after the effective collection scopes of the two radar devices in the horizontal direction are combined; and the data processing module is used for processing radar data collected by the two radar devices. According to the automobile radar system and the data processing method for the automobile radar, the two radar devices are arranged in any diagonal positions of the automobile body of an automobile, and the periphery of the automobile body can be covered after the effective collection scopes of the two radar devices in the horizontal direction are combined, so that the situation that the radar devices are blocked by an automobile roof is avoided, and the area of a radar collection dead zone is decreased.
Description
Technical field
The present invention relates to automotive accessory technical field, particularly relate to a kind of vehicle radar system and
The data processing method of car radar.
Background technology
Advanced drive assist system (Advanced Driver Assistant System；Hereinafter referred to as:
ADAS) the various sensors being installed on automobile, the environment inside and outside very first time collecting cart are utilized
Data, carrying out quiet, the identification of dynamic object, detecting and the technical finesse such as tracking, so that driving
Person discovers contingent danger in the shortest time, to arouse attention and to improve safety.
Inventor is during realizing the present invention, and at least there are the following problems to find prior art:
ADAS typically installs a radar at automobile top, to obtain the distance of motor vehicle environment object in real time
Information, but owing to roof stops, the collection blind area of vehicle body surrounding is the biggest, it is impossible to detect in time
Barrier so that ADAS is the most safe and reliable.
Summary of the invention
The present invention provides the data processing method of a kind of vehicle radar system and car radar, to reduce
Radar gathers blind area.
For reaching above-mentioned purpose, the invention provides a kind of vehicle radar system, including: it is arranged on
Two radars of the arbitrary diagonal position of vehicle body, the effective collection in the horizontal direction of said two radar
Scope can cover the surrounding of vehicle body after combining；Data processing module, for said two radar
The radar data collected processes.
The embodiment of the present invention additionally provides the data processing method of a kind of car radar, including: from setting
Putting two radars at the arbitrary diagonal position of vehicle body and obtain radar data, said two radar is in level
Effective acquisition range on direction can cover the surrounding of vehicle body after combining；Described radar data is entered
Row processes.
The vehicle radar system of embodiment of the present invention offer and the data processing method of car radar, logical
Cross and two radars are set at the arbitrary diagonal position of body of a motor car, two radars having in the horizontal direction
Effect acquisition range can cover the surrounding of vehicle body after combining, it is to avoid the roof stop to radar, subtracts
Little radar gathers blind area.
Accompanying drawing explanation
The system block diagram of the vehicle radar system embodiment that Fig. 1 provides for the present invention；
The vehicle radar system embodiment radar site schematic diagram that Fig. 2 provides for the present invention；
The method stream of one embodiment of data processing method of the car radar that Fig. 3 provides for the present invention
Cheng Tu；
The method of another embodiment of data processing method of the car radar that Fig. 4 provides for the present invention
Flow chart；
The data processing method embodiment fusion treatment signal of the car radar that Fig. 5 provides for the present invention
Figure.
Description of reference numerals:
110-radar, 120-radar, 130-data processing module.
Detailed description of the invention
Below in conjunction with the accompanying drawings the data of embodiment of the present invention vehicle radar system and car radar are processed
Method is described in detail.
Embodiment one
The system block diagram of the vehicle radar system embodiment that Fig. 1 provides for the present invention.As it is shown in figure 1,
This system may include that radar 110, radar 120 and data processing module 130.Wherein, radar
110 and radar 120, it is separately positioned on the arbitrary diagonal position of body of a motor car, it is in the horizontal direction
Effectively acquisition range can cover the surrounding of vehicle body after combining；Data processing module 130 is for thunder
Reach 110 and the radar data that collects of radar 120 process.
Body of a motor car has four orientation all around, the most optional a pair diagonal position, pacifies respectively
Dress radar 110 and radar 120.Two radars effective acquisition range in the horizontal direction combine after energy
Enough cover the surrounding of vehicle body.Radar 110 and radar 120 are collected by data processing module 130
Radar data carries out subsequent treatment, to provide the range information of vehicle body surrounding objects to ADAS.
The vehicle radar system that the embodiment of the present invention provides, by the arbitrary diagonal position of body of a motor car
Arranging two radars, two radars effective acquisition range in the horizontal direction can cover after combining
The surrounding of vehicle body, it is to avoid the roof stop to radar, reduces radar and gathers blind area.
Embodiment two
The vehicle radar system embodiment radar site schematic diagram that Fig. 2 provides for the present invention.Above-mentioned
On the basis of embodiment illustrated in fig. 1, each radar effective acquisition range in the horizontal direction is at least
It it is 270 degree, it is possible to covering two orientation of vehicle body, two radars then can cover the surrounding of vehicle body.
Data processing module 130 may be used for carrying out radar data the fusion treatment of unified coordinate system, so
After by after fusion treatment data send to on-board processing unit.
Radar in the embodiment of the present invention can be laser radar, to improve data precision, and laser thunder
The acquisition range reached is 360 degree.As in figure 2 it is shown, radar 110 and radar 120 are separately positioned on
The vehicle body forward right side of sustained height and left rear side, stopped by vehicle body, each radar effectively gather model
Enclosing is 270 degree, and the radar 110 of forward right side covers vehicle body front side and right side, the radar 120 of left rear side
Covering vehicle body back side and left side, two radars can cover the surrounding of vehicle body.In like manner, radar 110
With vehicle body front left side and the right lateral side that radar 120 can also be arranged on sustained height.
Body bottom limit can be arranged on about the rational height of radar, radar 110 and radar 120
Edge, e.g., is arranged on right positions and the rear bumper bottom margin of automobile front beam bottom margin
Leftward position.Radar arranges the lowest, more will not the short and small barrier such as scanning leakage such as step.
Radar 110 and radar 120 can also be arranged on vehicle body outermost profile place in horizontal direction
On the height of plane.Overlook downwards from roof, find vehicle body the most outermost profile institute
Plane, radar is arranged on this height, it is ensured that radar scanning time, will not be by vehicle body
Stopped.As, show exterior feature after radar 110 and radar 120 can be arranged on left front marker lamp and the right side
The outer fix of lamp.
Certainly, the radar in the embodiment of the present invention can also be sound radar, by machine rebuilding,
Installing for it can 270 degree mechanical rotating shaft horizontally rotated so that it is effectively adopting in the horizontal direction
Collection scope reaches 270 degree, and sound radar is with low cost, it is possible to reduce the manufacturing cost of system.
Embodiment three
The method stream of one embodiment of data processing method of the car radar that Fig. 3 provides for the present invention
Cheng Tu.As it is shown on figure 3, the data processing method of this car radar comprises the steps:
S310, obtains radar data from two radars being arranged on the arbitrary diagonal position of vehicle body.
Body of a motor car has four orientation all around, the radar that the most optional a pair diagonal position is installed,
Two radars effective acquisition range in the horizontal direction can cover the surrounding of vehicle body after combining.
S320, processes radar data.
The data collecting radar carry out subsequent treatment, to provide vehicle body surrounding objects to ADAS
Range information.
The data processing method of the car radar that the embodiment of the present invention provides, by appointing at body of a motor car
Pair of horns position arranges two radars, and two radars effective acquisition range in the horizontal direction combines
After can cover the surrounding of vehicle body, it is to avoid the roof stop to radar, reduce radar and gather blind
District.
Embodiment four
The method of another embodiment of data processing method of the car radar that Fig. 4 provides for the present invention
Flow chart.As shown in Figure 4, on the basis of above-described embodiment, each radar is in the horizontal direction
Effective acquisition range be at least 270 degree, it is possible to cover vehicle body two orientation, two radars are then
The surrounding of vehicle body can be covered comprehensively.It addition, radar data is processed particularly as follows: to radar
Data carry out the fusion treatment of unified coordinate system.Specifically, the car radar that the present embodiment provides
Data processing method may further include following steps:
S410, obtains radar data from two radars being arranged on the arbitrary diagonal position of vehicle body.
Above-mentioned radar data be certain collection point relative to radar position coordinate (x, y).
S420, is set to the initial point O (0,0) of unified coordinate system by vehicle body center.
The transverse axis (x-axis) of this unified coordinate system points on the right side of vehicle body, and the longitudinal axis (y-axis) points to vehicle body
Front side.
S430, calculates the above-mentioned collection point coordinate (x ± △ x, y ± △ y) relative to initial point O (0,0).
Wherein, △ x is the vertical dimension that radar arrives the longitudinal axis of unified coordinate system, and △ y is that radar is to system
The vertical dimension of the transverse axis of one coordinate system.
The data processing method embodiment fusion treatment signal of the car radar that Fig. 5 provides for the present invention
Figure.As it is shown in figure 5, when the first radar and the second radar are separately positioned on the vehicle body right side of sustained height
When front side and left rear side, the first radar is with (△ x, △ y) for initial point, and the radar data collected is for adopting
Collection point A (x1, y1), the second radar is so that (, y) for initial point, the radar data collected is for adopting for-△ x ,-△
Collection point B (x2, y2).By unified for collection point A (x1, y1) and B (x2, y2) to the same coordinate system, after fusion
Data A (x1+ △ x, y1+ △ y) and B ((x2-△ x, y2-△ y) is considered as being in unified seat
The data that the virtual radar at Biao Xi center O (0,0) gathers.
In like manner, two radars in above-mentioned steps S410 can also be for being arranged on the of vehicle body front left side
Three radars and the 4th radar being arranged on vehicle body right lateral side, the radar data (x3, y3) of the 3rd radar enters
Coordinate after row fusion treatment is (x3-△ x, y3+ △ y), and the radar data (x4, y4) of the 4th radar enters
Coordinate after row fusion treatment is (x4+ △ x, y4-△ y).
The data processing method of the car radar that the embodiment of the present invention provides, by appointing at body of a motor car
Pair of horns position arranges two radars, and two radars effective acquisition range in the horizontal direction combines
After can cover the surrounding of vehicle body, it is to avoid the roof stop to radar, reduce radar and gather blind
District；Data by two radar collections carry out the fusion treatment of unified coordinate system, in order to ADAS
Further process.
One of ordinary skill in the art will appreciate that: realize the whole or portion of above-mentioned each method embodiment
Can be completed by the hardware that programmed instruction is relevant step by step.Aforesaid program can be stored in one
In computer read/write memory medium.This program upon execution, performs to include that above-mentioned each method is implemented
The step of example；And aforesaid storage medium includes: ROM, RAM, magnetic disc or CD etc. are various
The medium of program code can be stored.
Last it is noted that various embodiments above is only in order to illustrate technical scheme, and
Non-to its restriction；Although the present invention being described in detail with reference to foregoing embodiments, ability
The those of ordinary skill in territory is it is understood that it still can be to the technology described in foregoing embodiments
Scheme is modified, or the most some or all of technical characteristic is carried out equivalent；And this
A little amendments or replacement, do not make the essence of appropriate technical solution depart from various embodiments of the present invention technology
The scope of scheme.
Claims (16)
1. a vehicle radar system, it is characterised in that including:
Being arranged on two radars of the arbitrary diagonal position of vehicle body, said two radar is in the horizontal direction
Effective acquisition range combine after can cover the surrounding of vehicle body；
Data processing module, processes for the radar data collecting said two radar.
Vehicle radar system the most according to claim 1, it is characterised in that
Described radar effective acquisition range >=270 degree in the horizontal direction.
Vehicle radar system the most according to claim 2, it is characterised in that at described data
Reason module for carrying out the fusion treatment of unified coordinate system to described radar data.
Vehicle radar system the most according to claim 3, it is characterised in that described radar sets
Put in the vehicle body forward right side of sustained height and left rear side, or the vehicle body being arranged on sustained height is left front
Side and right lateral side.
Vehicle radar system the most according to claim 4, it is characterised in that described radar sets
Put at body bottom edge.
Vehicle radar system the most according to claim 5, it is characterised in that described radar sets
Put the bottom margin position at the forward and backward bumper of automobile.
Vehicle radar system the most according to claim 4, it is characterised in that described radar sets
Put on the height of vehicle body outermost profile place plane in the horizontal direction.
Vehicle radar system the most according to claim 7, it is characterised in that described radar sets
Put in automobile clearance lamps outer fix.
9., according to the vehicle radar system described in any claim in claim 1 to 8, it is special
Levying and be, described radar is laser radar.
10. according to the vehicle radar system described in any claim in claim 1 to 8, its
Being characterised by, described radar is sound radar, is installed by the mechanical rotating shaft of 270 degree of horizontal rotations
On vehicle body.
The data processing method of 11. 1 kinds of car radars, it is characterised in that including:
Radar data, said two thunder is obtained from two radars being arranged on the arbitrary diagonal position of vehicle body
Reach the surrounding that can cover vehicle body after effective acquisition range in the horizontal direction combines；
Described radar data is processed.
The data processing method of 12. car radars according to claim 11, it is characterised in that
Described radar effective acquisition range >=270 degree in the horizontal direction.
The data processing method of 13. car radars according to claim 12, it is characterised in that
Described described radar data is processed, particularly as follows:
Described radar data is carried out the fusion treatment of unified coordinate system.
The data processing method of 14. car radars according to claim 13, it is characterised in that
Described radar data be collection point relative to described radar position coordinate (x, y), described to institute
State radar data and carry out the fusion treatment of unified coordinate system, including:
Vehicle body center is set to the initial point of unified coordinate system, and the transverse axis of described unified coordinate system points to car
On the right side of body, the longitudinal axis of described unified coordinate system points to vehicle body front side；
Calculate the described collection point coordinate (x ± △ x, y ± △ y) relative to described vehicle body center, wherein,
△ x is the described radar vertical dimension to the longitudinal axis of described unified coordinate system, and △ y is that described radar arrives
The vertical dimension of the transverse axis of described unified coordinate system.
The data processing method of 15. car radars according to claim 14, it is characterised in that
Described diagonal position is vehicle body forward right side and the left rear side of sustained height, and described radar includes being arranged on
First radar of vehicle body forward right side and the second radar being arranged on vehicle body left rear side,
The radar data (x1, y1) of described first radar carry out the coordinate after fusion treatment for (x1+ △ x,
Y1+ △ y),
The radar data (x2, y2) of described second radar carry out the coordinate after fusion treatment for (x2-△ x,
y2-△y)。
The data processing method of 16. car radars according to claim 14, it is characterised in that
Described diagonal position is vehicle body front left side and the right lateral side of sustained height, and described radar includes being arranged on
3rd radar of vehicle body front left side and the 4th radar being arranged on vehicle body right lateral side,
The radar data (x3, y3) of described 3rd radar carry out the coordinate after fusion treatment for (x3-△ x,
Y3+ △ y),
The radar data (x4, y4) of described 4th radar carry out the coordinate after fusion treatment for (x4+ △ x,
y4-△y)。
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610140505.7A CN105835785A (en) | 2016-03-11 | 2016-03-11 | Automobile radar system and data processing method for automobile radar |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610140505.7A CN105835785A (en) | 2016-03-11 | 2016-03-11 | Automobile radar system and data processing method for automobile radar |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108118934A (en) * | 2018-02-24 | 2018-06-05 | 国信机器人无锡股份有限公司 | The parking robot guide wheel assemblies of built-in scan radar |
| CN108166819A (en) * | 2018-02-24 | 2018-06-15 | 国信机器人无锡股份有限公司 | One kind holds formula parking robot |
| CN113281771A (en) * | 2021-03-31 | 2021-08-20 | 南京工程学院 | Double-radar fusion method and equipment applied to mobile robot |
| CN113352994A (en) * | 2021-07-14 | 2021-09-07 | 经纬恒润(天津)研究开发有限公司 | Automobile-used laser radar mounting structure and car |
| CN114127654A (en) * | 2019-07-31 | 2022-03-01 | 沃尔沃卡车集团 | Method for forming a travel path of a vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108118934A (en) * | 2018-02-24 | 2018-06-05 | 国信机器人无锡股份有限公司 | The parking robot guide wheel assemblies of built-in scan radar |
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| CN114127654A (en) * | 2019-07-31 | 2022-03-01 | 沃尔沃卡车集团 | Method for forming a travel path of a vehicle |
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| CN113281771A (en) * | 2021-03-31 | 2021-08-20 | 南京工程学院 | Double-radar fusion method and equipment applied to mobile robot |
| CN113281771B (en) * | 2021-03-31 | 2023-07-28 | 南京工程学院 | Double-radar fusion method and equipment applied to mobile robot |
| CN113352994A (en) * | 2021-07-14 | 2021-09-07 | 经纬恒润(天津)研究开发有限公司 | Automobile-used laser radar mounting structure and car |
| CN113352994B (en) * | 2021-07-14 | 2023-05-16 | 经纬恒润(天津)研究开发有限公司 | Laser radar mounting structure for vehicle and automobile |
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