CN107415823A - Life entity anticollision method for early warning in running car based on ULTRA-WIDEBAND RADAR - Google Patents

Life entity anticollision method for early warning in running car based on ULTRA-WIDEBAND RADAR Download PDF

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Publication number
CN107415823A
CN107415823A CN201710269371.3A CN201710269371A CN107415823A CN 107415823 A CN107415823 A CN 107415823A CN 201710269371 A CN201710269371 A CN 201710269371A CN 107415823 A CN107415823 A CN 107415823A
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China
Prior art keywords
life entity
early warning
ultra
distance
automobile
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Pending
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CN201710269371.3A
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Chinese (zh)
Inventor
孙海燕
袁薛帅
滕飞
朱荣娟
何旭
臧利国
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Nanjing Institute of Technology
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Nanjing Institute of Technology
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Priority to CN201710269371.3A priority Critical patent/CN107415823A/en
Publication of CN107415823A publication Critical patent/CN107415823A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • 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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/0209—Systems with very large relative bandwidth, i.e. larger than 10 %, e.g. baseband, pulse, carrier-free, ultrawideband
    • 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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • 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
    • G01S2013/9322—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using additional data, e.g. driver condition, road state or weather data

Abstract

The present invention provides life entity anticollision method for early warning in a kind of running car based on ULTRA-WIDEBAND RADAR, it is drive shift or reverse gear according to the gear of automobile suspension, judge and correspond to unlatching front radar or back radars, front radar or back radars use ultra-wideband bioradar；Ultra-wideband bioradar launches pulse microwave beam, detection front life entity situation to target area；After ultra-wideband bioradar receives the echo impulse after being reflected by life entity, signal manages device and carries out preliminary treatment in advance, signal is demodulated, integration, amplification, filtering, it is then fed into central computer and carries out data processing and analysis, if returned without life entity echo pulse signal, not triggering the alarm device present invention then realizes under vehicle forward and reversing both of which to blind area, particularly barrier rear life entity detection, UWB radar detection accuracy high energy accurately identifies the life entity in blind area, automobile can be realized when moving ahead and moving backward to the active forewarning of life entity.

Description

Life entity anticollision method for early warning in running car based on ULTRA-WIDEBAND RADAR
Technical field
The present invention relates to life entity anticollision method for early warning in a kind of running car based on ULTRA-WIDEBAND RADAR.
Background technology
From the arrival of the first industrial revolution steam locomotive, new-energy automobile pours in by now, and automobile increasingly melts Enter the life of people, the automobile in life is also more and more, is flooded with whole big and small city.Then flourishing behind is total It is to have safe hidden danger, according to statistics, having more than 200,000 people dies from road safety traffic accident every year for China, wherein having more than 10,000 Less than 15 years old children of name, because car accident caused by the carelessness of driver is even more that account for more than 80%.
Current existing vehicle anticollision method for early warning, mainly realizes the detection early warning to barrier, because barrier leads to Often static not move, therefore, the safe distance of setting is generally smaller, and this safe distance is for the life entity that can be moved, hardly possible With the generation of accident prevention.Especially it is at a high speed or under lower-speed state in speed, using same safe distance, can causes potential Risk of collision.In addition, pair occurring with the life entity in barrier rear due to life entity movement in blind area, be present The risk of collision.
Therefore, the present invention designs life entity anticollision method for early warning in a kind of running car based on ULTRA-WIDEBAND RADAR, Can effective detection go out life entity breath signal, the position signalling on periphery in running car, including pedestrian, animal and with there is driver Road vehicle etc., and dangerous situation is given warning in advance, avoids the generation of accident, reduce in night running, barrier The possibility that various, the bad road conditions in the bad weather visual field collide, effectively increases vehicle active safety energy.
The content of the invention
It is an object of the invention to provide life entity anticollision method for early warning in a kind of running car based on ULTRA-WIDEBAND RADAR, On night, the section that barrier is various, the bad weather visual field is bad, can detect peripheral vehicle life entity breath signal and Particular location, and hydropac signal is provided, avoid driver from ignoring the vehicle in people from periphery/animal and traveling because of blind area The traffic accident such as collision caused by and, solves the above-mentioned problems in the prior art.
The present invention technical solution be：
Life entity anticollision method for early warning, comprises the following steps in a kind of running car based on ULTRA-WIDEBAND RADAR：
Step 1, it is drive shift or reverse gear according to the gear of automobile suspension, judges simultaneously corresponding to open front radar or rear Fanglei Reach, front radar or back radars use ultra-wideband bioradar；
Step 2, ultra-wideband bioradar launch pulse microwave beam to target area and obtain life entity situation in search coverage；
Step 3, after ultra-wideband bioradar receives the echo impulse after being reflected by life entity, signal manage in advance device progress Preliminary treatment, signal is demodulated, integrate, amplify, filtered, be then fed into central computer and carry out data processing and analysis, If being returned without life entity echo pulse signal, alarm device is not triggered；
The signal of reception is further processed for step 4, central computer, and the life entity breathing extracted in signal is special Reference number and distance signal, obtain the distance D of life entity and automobilef；
Step 5, the distance D for obtaining life entity and automobile in step 4fAfterwards, according to different speeds, different early warning is set Early warning distance D under distance, including high speed1With early warning distance D under low speed2, car speed V≤20km/h is set as high speed, 0 ﹤ V ﹤ 20km/h are low speed, when targeted vital body is within early warning distance, trigger alarm device.
Further, early warning distance D under high speed in step 51Drawn by following：Automobile driving speed is V, settingA=0.08V+0.63,D is setting safe distance.
Further, safe distance d meets condition：Work as V1Meet 20km/h<V1<30km/h, d=1m；When speed d meets 30km/h<V1<40km/h, d=2m；When speed d meets V1≤ 40km/h, d=5m.
Further, early warning distance under low speed in step 5：D2=6.5m.
Further, when life entity and the distance D of automobilefEarly warning distance D under≤high speed1, when, automobile speech alarm dress Startup is put, the danger early warning that front has life entity to collide is carried out to driver；When life entity and the distance D of automobilef≤ low speed Lower early warning distance D2When, if automobile is state of rolling backward, automobile speech alarm device starts, and carrying out rear to driver has life The danger early warning of body collision, otherwise carries out anticollision early warning to front life entity.
The beneficial effects of the invention are as follows：The pre- police of life entity anticollision in running car of this kind based on ULTRA-WIDEBAND RADAR Method, by using the radar life detection device of military and medical aspect, it is designed and is embedded into automobile driving system, can Allow human pilot timely and effectively to recognize the presence of peripheral vehicle life entity and potential danger, reduce in night row Sail, barrier it is various, the bad weather visual field is bad and there is a possibility that the road conditions of blind area collide, and ageing Height, cost is low, and security is higher.
Brief description of the drawings
Fig. 1 is that the flow of life entity method for early warning in running car of the embodiment of the present invention based on ultra wide band bioradar is shown It is intended to；
Fig. 2 is front radar operating diagram of the automobile when advancing in embodiment；
Fig. 3 is back radars operating diagram of the automobile in reversing in embodiment；
Wherein：1- automobiles, 2- life entities, 3- search coverages, 4- barriers.
Embodiment
The preferred embodiment that the invention will now be described in detail with reference to the accompanying drawings.
Embodiment
The anticollision method for early warning of life entity 2 during the automobile 1 based on ULTRA-WIDEBAND RADAR of embodiment travels, is realized in vehicle Move ahead and reversing both of which under to blind area, particularly the rear of barrier 4 life entity 2 detection, UWB radar detection Precision high energy accurately identifies the life entity 2 in blind area, can realize active of the automobile 1 when moving ahead and moving backward to life entity 2 Early warning.
The anticollision method for early warning of life entity 2 during a kind of automobile 1 based on ULTRA-WIDEBAND RADAR travels, such as Fig. 1, including following step Suddenly：
Step 1, the gear hung according to automobile 1 are drive shift or reverse gear, judge and correspond to open front radar or rear Fanglei Reach, front radar or back radars use ultra-wideband bioradar, i.e., when the gear of automobile 1 is drive shift, open front thunder Reach；When the gear of automobile 1 is reverse gear, back radars are opened, such as Fig. 2 and Fig. 3；
Step 2, ultra-wideband bioradar launch pulse microwave beam to target area, obtain the feelings of life entity 2 in search coverage 3 Condition；
Step 3, after the echo impulse that ultra-wideband bioradar receives after being reflected by life entity 2, signal is managed device and entered in advance Row preliminary treatment, signal is demodulated, integrate, amplify, filtered, be then fed into central computer and carry out data processing and divide Analysis, if being returned without the echo pulse signal of life entity 2, do not trigger alarm device；
The signal of reception is further processed for step 4, central computer, and the life entity 2 extracted in signal breathes Characteristic signal and distance signal, obtain the distance D of life entity 2 and automobile 1f；
Step 5, the distance D for obtaining life entity 2 and automobile 1 in step 4fAfterwards, according to different speeds, set different pre- Alert distance, including early warning distance D under high speed1With early warning distance D under low speed2, car speed V≤20km/h is in embodiment High speed, 0 ﹤ V ﹤ 20km/h are low speed, when targeted vital body 2 is within early warning distance, trigger alarm device.
Early warning distance D under high speed in step 51Drawn by following：The travel speed of automobile 1 is V, settinga =0.08V+0.63,D is setting safe distance.
Safe distance d meets condition：Work as V1Meet 20km/h<V1<30km/h, d=1m；When speed d meets 30km/h<V1< 40km/h, d=2m；When speed d meets V1≤ 40km/h, d=5m.
Speed of being moved backward in step 5, under low speed is generally less than 20km/h, early warning distance under low speed：D2=6.5m.
Work as D1The distance D of≤life entity 2 and automobile 1f, when, the voice siren device of automobile 1 starts, and front is carried out to driver There is the danger early warning that life entity 2 collides；Work as D2The distance D of≤life entity 2 and automobile 1fWhen, if automobile is state of rolling backward, to driving Member carries out the danger early warning that rear has life entity to collide, and the voice siren device of automobile 1 starts, and carrying out rear to driver has life The danger early warning that body 2 collides, anticollision early warning otherwise is carried out to front life entity 2.Alarm device sends voice by vehicle audio Alarm, and danger signal is prompted in electronic display in the car.
In embodiment, ultra-wideband bioradar is that UWB radar is arranged on the front bumper of automobile 1 and on rear bumper, UWB Radar includes sender unit and five signal receiving device, signal preprocessor, data collecting card and central computer moulds Block forms, and is connected with vehicle electronic circuit.
UWB radar launches pulse microwave beam to target area, for detecting the front situation of life entity 2.In UWB bioradars After receiving the echo impulse after being reflected by human body, signal manages device and carries out preliminary treatment in advance, and signal is demodulated, integrate, put Greatly, filter, be then fed into central computer and carry out data processing and analysis.If returned without the echo pulse signal of life entity 2, no Trigger alarm device.
Central computer chip is placed in vehicle control syetem, and the signal of reception is further processed, extracts letter The respiratory characteristic signal of life entity 2 and distance signal in number.
It is latent nearby that the method for early warning of embodiment can be such that driver is found in the bad road conditions of blind area or the visual field In the life entity 2 (people/animal) of danger, the possibility to collide, and ageing height are reduced, cost is low, and security is higher.

Claims (5)

1. life entity anticollision method for early warning in a kind of running car based on ULTRA-WIDEBAND RADAR, it is characterised in that including as follows Step：
Step 1, be drive shift or reverse gear according to the gear of automobile suspension, judge it is simultaneously corresponding open front radar or back radars, it is preceding Fanglei reaches or back radars use ultra-wideband bioradar；
Step 2, ultra-wideband bioradar launch pulse microwave beam to target area, obtain life entity situation in search coverage；
Step 3, after ultra-wideband bioradar receives the echo impulse after being reflected by life entity, signal manage in advance device carry out it is preliminary Processing, is demodulated to signal, integrates, amplifies, filters, and is then fed into central computer and carries out data processing and analysis, if nothing Life entity echo pulse signal returns, then does not trigger alarm device；
The signal of reception is further processed for step 4, central computer, extracts the life entity respiratory characteristic letter in signal Number and distance signal, obtain the distance D of life entity and automobilef；
Step 5, the distance D for obtaining life entity and automobile in step 4fAfterwards, according to different speeds, different early warning distances is set, Including early warning distance D under high speed1With early warning distance D under low speed2, when targeted vital body is within early warning distance, triggering police Reporting device.
2. life entity anticollision method for early warning, its feature in the running car based on ULTRA-WIDEBAND RADAR as claimed in claim 1 It is：Automobile driving speed is V, settingA=0.08V+0.63,D is to set Dingan County's full distance.
3. life entity anticollision method for early warning, its feature in the running car based on ULTRA-WIDEBAND RADAR as claimed in claim 2 It is：Safe distance d meets condition：When V meets 20km/h<V1<30km/h, d=1m；When speed d meets 30km/h<V1< 40km/h, d=2m；When speed d meets V1≤ 40km/h, d=5m.
4. life entity anticollision method for early warning, its feature in the running car based on ULTRA-WIDEBAND RADAR as claimed in claim 1 It is：Early warning distance under low speed in step 5：D2=6.5m.
5. the pre- police of life entity anticollision in the running car based on ULTRA-WIDEBAND RADAR as described in claim any one of 1-3 Method, it is characterised in that：When life entity and the distance D of automobilefEarly warning distance D under≤high speed1, when, automobile speech alarm device opens It is dynamic, the danger early warning that front has life entity to collide is carried out to driver；When life entity and the distance D of automobilefIt is pre- under≤low speed Alert distance D2When, if automobile is state of rolling backward, automobile speech alarm device starts, and carrying out rear to driver has life entity to touch The danger early warning hit, anticollision early warning otherwise is carried out to front life entity.
CN201710269371.3A 2017-04-21 2017-04-21 Life entity anticollision method for early warning in running car based on ULTRA-WIDEBAND RADAR Pending CN107415823A (en)

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WO2020147486A1 (en) * 2019-01-15 2020-07-23 北京百度网讯科技有限公司 Vehicle control method, apparatus, device, and computer storage medium
DE102019202262A1 (en) * 2019-02-20 2020-08-20 Zf Friedrichshafen Ag Method for recognizing living beings in a detection area of a vehicle
WO2021214647A1 (en) 2020-04-20 2021-10-28 Rombit Nv Method, system and computer program product for blind spot detection

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CN109591695A (en) * 2018-11-23 2019-04-09 北京长城华冠汽车科技股份有限公司 Vehicle-mounted early warning system, vehicle-mounted method for early warning
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Application publication date: 20171201