CN106347210A - Automobile door-open early-warning system and method - Google Patents
Automobile door-open early-warning system and method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q11/00—Arrangement of monitoring devices for devices provided for in groups B60Q1/00 - B60Q9/00
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/002—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle
- B60Q9/004—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors
- B60Q9/006—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors using a distance sensor
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Abstract
本发明涉及汽车电子技术领域，具体涉及汽车开门预警系统及方法。驻车时接收目标车辆与自车的距离信息，根据所述距离信息计算出目标车辆的车速VB以及目标车辆与自车发生碰撞所需的行驶时间，根据目标车辆的车速VB判断目标车辆的行驶方向，并将所述行驶时间与预警标定时间a进行比对，判断是否进行预警。采用警示灯、警示条进行车内视觉预警，采用转向灯进行车外视觉预警，采用蜂鸣器进行听觉预警，针对驾驶员或来往车辆进行多方位预警，具有更高的安全性。
The invention relates to the technical field of automobile electronics, in particular to an automobile door opening warning system and method. When parking, receive the distance information between the target vehicle and the self-vehicle, calculate the vehicle speed V B of the target vehicle and the travel time required for the collision between the target vehicle and the self-vehicle according to the distance information, and judge the target vehicle according to the vehicle speed V B of the target vehicle and compare the travel time with the pre-warning calibration time a to determine whether to issue a pre-warning. Using warning lights and warning strips for visual early warning inside the car, using turn signals for visual early warning outside the car, using buzzers for auditory early warning, and multi-directional early warning for drivers or passing vehicles, which has higher safety.
Description
技术领域technical field
本发明涉及汽车电子技术领域，具体涉及汽车开门预警系统及方法。The invention relates to the technical field of automobile electronics, in particular to an automobile door opening warning system and method.
背景技术Background technique
随着车辆的普及，车辆越来越多，交通事故也随之增加，车辆的性能和安全也越来越受到人们重视。辅助驾驶系统能有效减少交通事故，但其往往用于对行驶时保持车道提供支持，而对驻车过程中的危险状况却不能有效避免。在驻车过程中，若车辆后方有车辆(包括汽车、摩托车等)经过，开门时不注意后方状况容易导致发生碰撞，而因为这一碰撞导致的事故率占总交通事故率的5％～10％，且事故严重，易造成二次事故。因此，研究一项驻车时进行开门预警的技术显得尤为重要。With the popularization of vehicles, there are more and more vehicles, and traffic accidents are also increasing. The performance and safety of vehicles are also more and more valued by people. Assisted driving systems can effectively reduce traffic accidents, but they are often used to support lane keeping while driving, but cannot effectively avoid dangerous situations during parking. During the parking process, if there are vehicles (including cars, motorcycles, etc.) passing behind the vehicle, it is easy to cause a collision if you do not pay attention to the rear situation when opening the door, and the accident rate caused by this collision accounts for 5% of the total traffic accident rate~ 10%, and the accident is serious, which can easily cause secondary accidents. Therefore, it is particularly important to study a technology for door opening warning when parking.
发明内容Contents of the invention
为解决上述技术问题，本发明提供了一种能够在驻车过程中根据路况进行开门预警的汽车开门预警系统及方法。In order to solve the above technical problems, the present invention provides an automobile door opening warning system and method capable of performing door opening warning according to road conditions during parking.
对于本发明一种汽车开门预警系统，其技术方案为，包括For a kind of automobile door opening early warning system of the present invention, its technical scheme is, comprises
主微波雷达：用于接收副微波雷达发送的目标车辆距离信息，根据目标车辆距离信息判断是否进行预警；Main microwave radar: used to receive the distance information of the target vehicle sent by the secondary microwave radar, and judge whether to carry out early warning according to the distance information of the target vehicle;
副微波雷达：用于检测目标车辆距自车的距离，并将该距离信息发送给主微波雷达；Secondary microwave radar: used to detect the distance between the target vehicle and the own vehicle, and send the distance information to the main microwave radar;
警示灯：用于根据主微波雷达发送的预警控制信号进行点亮预警。Warning light: it is used to light early warning according to the early warning control signal sent by the main microwave radar.
进一步的，还包括传感器，所述传感器用于判断乘客或驾驶员有无开门意图，并将该信号实时反馈给主微波雷达。Further, a sensor is also included, and the sensor is used for judging whether the passenger or the driver intends to open the door, and feeds back the signal to the main microwave radar in real time.
进一步的，还包括警示条，所述警示条用于根据主微波雷达的预警控制信号进行点亮预警。Further, a warning bar is also included, and the warning bar is used for lighting up an early warning according to the early warning control signal of the main microwave radar.
进一步的，所述副微波雷达包括对称设置于车辆尾部左右两侧的左副微波雷达和右副微波雷达，所述警示灯包括对称设置于车辆门内护板的左侧警示灯和右侧警示灯，所述警示条包括对称设置于车辆门内护板的左侧警示条和右侧警示条。Further, the secondary microwave radar includes a left secondary microwave radar and a right secondary microwave radar symmetrically arranged on the left and right sides of the rear of the vehicle, and the warning lights include a left warning light and a right warning light symmetrically arranged on the inner guard plate of the vehicle door. The warning strip includes a left warning strip and a right warning strip symmetrically arranged on the inner guard plate of the vehicle door.
对于本发明一种汽车开门预警方法，其技术方案为：For a kind of automobile door opening warning method of the present invention, its technical scheme is:
驻车时接收目标车辆与自车的距离信息，根据所述距离信息计算出目标车辆的车速VB以及目标车辆与自车发生碰撞所需的行驶时间，根据目标车辆的车速VB判断目标车辆的行驶方向，并将所述行驶时间与预警标定时间a进行比对，判断是否进行预警。When parking, receive the distance information between the target vehicle and the self-vehicle, calculate the vehicle speed V B of the target vehicle and the travel time required for the collision between the target vehicle and the self-vehicle according to the distance information, and judge the target vehicle according to the vehicle speed V B of the target vehicle and compare the travel time with the pre-warning calibration time a to determine whether to issue a pre-warning.
进一步的，在车门上设置左侧传感器和右侧传感器，根据左侧传感器和右侧传感器反馈的电压值U判断车内人员是否存在开门意图，并根据开门意图判断预警等级。Further, a left sensor and a right sensor are set on the car door, and according to the voltage value U fed back by the left sensor and the right sensor, it is judged whether the occupant in the car intends to open the door, and the warning level is judged according to the door opening intention.
进一步的，所述有效区域为Lx≤Em；Ly≤Fm，所述Lx为目标车辆距离自车中心线的水平距离，所述Ly为目标车辆头部距离自车尾部的垂直距离，所述E取40-50，所述F取2-5。Further, the effective area is L x ≤ Em; Ly ≤ Fm, the L x is the horizontal distance between the target vehicle and the center line of the self-vehicle, and the Ly is the vertical distance between the head of the target vehicle and the rear of the self-vehicle , the E is 40-50, and the F is 2-5.
进一步的，所述目标车辆与自车发生碰撞所需的行驶时间为目标车辆到达左副微波雷达的时间t1和到达右副微波雷达的时间t2，所述时间t1和t2的计算过程为：t1＝L1/VB，t2＝L2/VB，所述L1＝c/2*T*(△f1/B)，L2＝c/2*T*(△f2/B)，所述目标车辆的车速VB＝(c/2f0)*△f/2，所述L1为目标车辆距自车左副微波雷达的距离，所述L2为目标车辆距自车左副微波雷达的距离，所述△f1为左副微波雷达发射信号与接收信号的频率差，所述△f2为右副微波雷达发射信号与接收信号的频率差，B为副微波雷达的调制带宽，T为副微波雷达的调制信号周期，所述△f为左副微波雷达或右副微波雷达发射信号与接收信号的频率差，f0为发射波的中心频率，c为光速。Further, the travel time required for the target vehicle to collide with the ego vehicle is the time t 1 for the target vehicle to reach the left auxiliary microwave radar and the time t 2 for the right auxiliary microwave radar, the calculation of the time t 1 and t 2 The process is: t 1 =L 1 /V B , t 2 =L 2 /V B , said L 1 =c/2*T*(△f 1 /B), L 2 =c/2*T*( Δf 2 /B), the vehicle speed of the target vehicle V B =(c/2f 0 )*Δf/2, the L 1 is the distance between the target vehicle and the left auxiliary microwave radar of the vehicle, and the L 2 is The distance between the target vehicle and the left auxiliary microwave radar of the vehicle, the Δf 1 is the frequency difference between the left auxiliary microwave radar transmitting signal and the receiving signal, and the Δf 2 is the frequency difference between the right auxiliary microwave radar transmitting signal and receiving signal, B is the modulation bandwidth of the secondary microwave radar, T is the modulation signal period of the secondary microwave radar, the Δf is the frequency difference between the transmitted signal and the received signal of the left secondary microwave radar or the right secondary microwave radar, f 0 is the center frequency of the transmitted wave , c is the speed of light.
进一步的，当所述VB＜0或所述t1＞t2＞a或t2＞t1＞a时，不进行预警；Further, when the V B <0 or the t 1 >t 2 >a or t 2 >t 1 >a, no warning is given;
当所述VB≥0、t1＜t2≤a且U＝0V时，进行一级左侧预警；When V B ≥0, t 1 <t 2 ≤a and U=0V, a first-level left warning is performed;
当所述VB≥0、t2＜t1≤a且U＝0V时，进行一级右侧预警；When V B ≥ 0, t 2 <t 1 ≤ a and U=0V, a first-level right warning is performed;
当所述VB≥0、t1＜t2≤a且U＝bV时，进行二级左侧预警；When V B ≥ 0, t 1 <t 2 ≤ a and U=bV, perform a second level left warning;
当所述VB≥0、t2＜t1≤a且U＝bV时，进行二级右侧预警；When V B ≥ 0, t 2 <t 1 ≤ a and U=bV, perform a second-level right warning;
所述b为人手接近传感器时的电压输出值。The b is the voltage output value when the human hand approaches the sensor.
进一步的，所述一级左侧预警为点亮左侧警示灯，所述一级右侧预警为点亮右侧警示灯，所述二级左侧预警为点亮左前转向灯、左后转向灯、左侧警示灯、左侧警示条以及蜂鸣器报警，所述二级右侧预警为点亮右前转向灯、右后转向灯、右侧警示灯、右侧警示条以及蜂鸣器报警。Further, the first-level left warning is to turn on the left warning light, the first-level right warning is to turn on the right warning light, and the second-level left warning is to turn on the left front turn signal and the left rear turn signal. lamp, left warning light, left warning strip and buzzer alarm, the second level right warning is lighting the right front turn signal, right rear turn signal, right warning light, right warning strip and buzzer alarm .
本发明的有益效果：采用微波雷达进行路况检测，探测距离远，探测精度高。增设更为显眼的警示条，当车内人员有开门意图时，点亮警示条进行预警，具有更强的视觉效果。采用电容传感器对开门意图进行检测，当人手接近时，能立刻将信号转化为电压值发送给主微波雷达，反应迅速，更有利于二级预警，提高驻车安全性。采用警示灯、警示条进行车内视觉预警，采用转向灯进行车外视觉预警，采用蜂鸣器进行听觉预警，针对驾驶员或来往车辆进行多方位预警，具有更高的安全性。The beneficial effect of the present invention is that the microwave radar is used for road condition detection, the detection distance is long, and the detection accuracy is high. A more conspicuous warning bar is added. When the occupants in the car intend to open the door, the warning bar will be lit to give an early warning, which has a stronger visual effect. The capacitive sensor is used to detect the intention to open the door. When the hand approaches, the signal can be converted into a voltage value and sent to the main microwave radar immediately. The response is quick, which is more conducive to the secondary warning and improves the parking safety. Using warning lights and warning strips for visual early warning inside the car, using turn signals for visual early warning outside the car, using buzzers for auditory early warning, and multi-directional early warning for drivers or passing vehicles, which has higher safety.
附图说明Description of drawings
图1为汽车开门预警连接原理图；Figure 1 is a schematic diagram of the car door opening warning connection;
图2为有效区域示意图；Figure 2 is a schematic diagram of the effective area;
图3为微波雷达发射信号与接收信号的关系曲线图；Fig. 3 is a graph showing the relation between microwave radar transmitting signal and receiving signal;
图4为汽车开门预警方法的控制流程图；Fig. 4 is the control flowchart of automobile door opening early warning method;
具体实施方式detailed description
以下结合附图和具体实施例对本发明作进一步的详细说明：Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:
如图1所示，本发明包括主微波雷达、副微波雷达、警示灯、警示条、蜂鸣器。其中，副微波雷达包括对称安装与车尾两侧的左副微波雷达和右副微波雷达，警示灯包括对称设置于车辆门内护板的左侧警示灯和右侧警示灯，警示条包括对称设置于车辆门内护板的左侧警示条和右侧警示条。主微波雷达、副微波雷达之间通过CAN线通信。As shown in Fig. 1, the present invention includes a main microwave radar, a secondary microwave radar, a warning lamp, a warning strip, and a buzzer. Among them, the sub-microwave radar includes the left sub-microwave radar and the right sub-microwave radar installed symmetrically on both sides of the rear of the vehicle. It is installed on the left warning strip and the right warning strip of the inner guard plate of the vehicle door. The main microwave radar and the secondary microwave radar communicate through the CAN line.
如图4所示，车辆上电时，开门预警系统完成自检，当发现系统有故障时，主微波雷达控制警示灯与警示条以占空比50％，频率2Hz闪烁4次，系统正常时系统进入待机模式。当车辆停车时，通过网络信号检测车辆的状态，当判断车辆为驻车状态(自车车速为0，档位为P或空挡)时，开门预警系统激活开启，副微波雷达工作，并采用调频连续波FMCW探测移动物体的距离(如图3所示)。如图2所示，当有车辆进入有效区域时，将该车辆作为目标车辆，进行速度、与自车距离等参数进行计算。其中，有效区域为目标车辆距离自车中心线的水平距离Lx≤45m；目标车辆头部距离自车尾部的垂直距离Ly≤3m。目标车辆与自车发生碰撞所需的行驶时间为目标车辆到达左副微波雷达的时间t1和到达右副微波雷达的时间t2，时间t1和t2的计算过程为：t1＝L1/VB，t2＝L2/VB，L1＝c/2*T*(△f1/B)，L2＝c/2*T*(△f2/B)，目标车辆的车速VB＝(c/2f0)*△f/2，L1为目标车辆距自车左副微波雷达的距离，L2为目标车辆距自车左副微波雷达的距离，△f1为左副微波雷达发射信号与接收信号(即反射信号)的频率差，△f2为右副微波雷达发射信号与接收信号的频率差，B为副微波雷达的调制带宽，T为副微波雷达的调制信号周期，△f为左副微波雷达或右副微波雷达发射信号与接收信号的频率差，f0为发射波的中心频率，c为光速。同时电容传感器检测出驾驶员或乘客的开门意图，当电容传感器检测到人手距离传感器的距离S≤10cm时，电容传感器经处理芯片输出U＝3.5V(即b取3.5)的电压给主微波雷达，判断为有开门的动作意图；否则，当检测到的距离S＞10cm时，电容传感器输出U＝0V，判断为无开门的动作意图。As shown in Figure 4, when the vehicle is powered on, the door opening warning system completes the self-inspection. When the system is found to be faulty, the main microwave radar controls the warning lights and warning bars to flash 4 times at a duty cycle of 50% and a frequency of 2Hz. When the system is normal The system enters standby mode. When the vehicle is parked, the state of the vehicle is detected through the network signal. When it is judged that the vehicle is in the parking state (the vehicle speed is 0, the gear is P or neutral), the door opening warning system is activated, and the auxiliary microwave radar works, and adopts frequency modulation Continuous wave FMCW detects the distance of moving objects (as shown in Figure 3). As shown in Figure 2, when a vehicle enters the effective area, the vehicle is regarded as the target vehicle, and parameters such as speed and distance from the vehicle are calculated. Among them, the effective area is the horizontal distance L x ≤ 45m between the target vehicle and the center line of the self-vehicle; the vertical distance L y ≤ 3m between the head of the target vehicle and the rear of the self-vehicle. The travel time required for the target vehicle to collide with its own vehicle is the time t 1 for the target vehicle to reach the left secondary microwave radar and the time t 2 for the target vehicle to reach the right secondary microwave radar. The calculation process of time t 1 and t 2 is: t 1 =L 1 /V B , t 2 =L 2 /V B , L 1 =c/2*T*(△f 1 /B), L 2 =c/2*T*(△f 2 /B), the target vehicle Vehicle speed V B =(c/2f 0 )*△f/2, L 1 is the distance between the target vehicle and the left side microwave radar of the own vehicle, L 2 is the distance between the target vehicle and the left side microwave radar of the own vehicle, △f 1 is the frequency difference between the transmitted signal and the received signal (reflected signal) of the left sub-microwave radar, △f 2 is the frequency difference between the transmitted signal and the received signal of the right sub-microwave radar, B is the modulation bandwidth of the sub-microwave radar, and T is the sub-microwave radar Δf is the frequency difference between the transmitted signal and the received signal of the left sub-microwave radar or the right sub-microwave radar, f 0 is the center frequency of the transmitted wave, and c is the speed of light. At the same time, the capacitive sensor detects the intention of the driver or passenger to open the door. When the capacitive sensor detects that the distance between the human hand and the sensor is S≤10cm, the capacitive sensor outputs a voltage of U=3.5V (that is, b is 3.5) to the main microwave radar after processing the chip. , it is determined that there is an action intention to open the door; otherwise, when the detected distance S>10cm, the capacitive sensor outputs U=0V, and it is determined that there is no action intention to open the door.
在车辆处于停车状态，车辆进入有效的检测区域时，主微波雷达根据VB、t1、t2、U的值综合判断进行分等级预警，过程如下：When the vehicle is in a parked state and the vehicle enters the effective detection area, the main microwave radar will comprehensively judge the values of V B , t 1 , t 2 , and U to give a graded early warning. The process is as follows:
当VB＜0或t1＞t2＞3或t2＞t1＞3(即a取3)时，不进行预警；When V B <0 or t 1 >t 2 >3 or t 2 >t 1 >3 (that is, a takes 3), no warning will be given;
当VB≥0、t1＜t2≤3且U＝0V时，进行一级左侧预警，即点亮左侧警示灯；When V B ≥0, t 1 <t 2 ≤3 and U=0V, a first-level left warning is performed, that is, the left warning light is turned on;
当VB≥0、t2＜t1≤3且U＝0V时，进行一级右侧预警，即点亮右侧警示灯；When V B ≥ 0, t 2 < t 1 ≤ 3 and U = 0V, a first-level right warning is performed, that is, the right warning light is turned on;
当VB≥0、t1＜t2≤3且U＝3.5V时，进行二级左侧预警，即点亮左前转向灯、左后转向灯、左侧警示灯、左侧警示条以及蜂鸣器报警；When V B ≥ 0, t 1 < t 2 ≤ 3 and U = 3.5V, a second-level left pre-warning is performed, that is, the left front turn signal, the left rear turn signal, the left warning light, the left warning bar and the buzzer are turned on. buzzer alarm;
当VB≥0、t2＜t1≤3且U＝3.5V时，进行二级右侧预警，即点亮右前转向灯、右后转向灯、右侧警示灯、右侧警示条以及蜂鸣器报警。When V B ≥ 0, t 2 < t 1 ≤ 3 and U = 3.5V, a second-level right warning is performed, that is, the right front turn signal, the right rear turn signal, the right warning light, the right warning bar and the buzzer are turned on. Chime alarm.
其中，警示灯和警示条用于在车内点亮，对驾驶员或乘客进行视觉预警，蜂鸣器用于对驾驶员听觉预警，而转向灯用于在车外点亮，对路过的车辆或行人进行视觉预警。Among them, the warning lights and warning strips are used to light up inside the car to give visual warning to the driver or passengers, the buzzer is used to give the driver an auditory warning, and the turn signals are used to light up outside the car to give warning to passing vehicles or passengers. Visual warning for pedestrians.
以上所述，仅为本发明的具体实施方式，应当指出，任何熟悉本领域的技术人员在本发明所揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明的保护范围之内。The above is only a specific embodiment of the present invention. It should be pointed out that any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention shall be covered by the protection scope of the present invention. within.
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