CN107479056A - A kind of anticollision prior-warning device and its method for early warning for being used for two wheeler or tricycle - Google Patents
A kind of anticollision prior-warning device and its method for early warning for being used for two wheeler or tricycle Download PDFInfo
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- CN107479056A CN107479056A CN201710701098.7A CN201710701098A CN107479056A CN 107479056 A CN107479056 A CN 107479056A CN 201710701098 A CN201710701098 A CN 201710701098A CN 107479056 A CN107479056 A CN 107479056A
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- information
- acousto
- warning device
- bicyclist
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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
Abstract
The invention discloses a kind of anticollision prior-warning device and its method for early warning for being used for two wheeler or tricycle, described anticollision prior-warning device includes radar cell, control unit and acousto-optic prewarning unit, described control unit electrically connects row information of going forward side by side and exchanged with the radar cell for detecting surrounding objects mobile object, acousto-optic prewarning unit respectively, the radar cell includes target velocity algorithm for estimating program and movable information classification processing routine based on self-focusing, and the acousto-optic prewarning unit is provided with the acoustical generator or/and photophore for being used to realize classification prompting.The method for early warning includes the range information and velocity information that radar cell obtains bicyclist's broadside target mobile object, and carries out being classified processing according to the velocity information and range information of target moving object and export classification processing result information to control unit；Control system makes corresponding sound or/and light prompt according to the information control acousto-optic prewarning unit of the classification result exported by radar cell received.
Description
Technical field
The present invention is to be related to a kind of anticollision prior-warning device and its method for early warning for being used for two wheeler or tricycle, belongs to car
With traffic safety technology field.
Background technology
The main running vehicle that two wheeler or tricycle are gone on a journey as people with short distance in city always, particularly certainly
Driving and electric car, due to the advantages that its is inexpensive, light, energy-saving and environmental protection, and automobile trip traffic pressure is big, and near
The theory such as Green Travel, low-carbon environment-friendly deepens continuously over year, therefore bicycle or electric car trip be increasingly deeper by people's
Favor.
However, safety problem be user must not careless realistic problem.And two wheeler or tricycle are because of structure limit
System, it is impossible to rearview mirror is provided with as automobile, so that not knowing that rear motor vehicle, bicycle or other movements when riding
The situation of object, thus easily occur perceiving blind area at rear of riding；Especially under the particular surroundings such as night, dense fog, heavy rain,
The visual field of people more receives very big influence and limitation, and hidden danger is brought to safety trip.
For improve people's safety, the research suitable for two wheeler or the vehicle collision avoidance technology of tricycle meet the tendency of and
It is raw, as Chinese patent 201520585593.2 disclose it is a kind of by sensor, controller module, Tip element form based on thunder
Up to the bicycle safe suggestion device of ranging, although the patent can be carried out detecting simultaneously in advance to the mobile article of bicyclist vision dead zone
It is alert, but be only the unified prompting that carries out that the mobile article of different safe distances is not added with to differentiation, meanwhile, mobile article can only be passed through
The distance between bicyclist carries out early warning, and according to single, bicyclist can not know dangerous letter by this kind of safety instruction for early warning
The orientation and degree of danger of breath, and then suitable reply adjustment can not be made, the warning and reference role to bicyclist are little.Cause
How this, provide a kind of instantaneous distance by bicyclist's peripolesis object and instantaneous velocity is accurately calculated, and right
Different target mobile object carries out graduation early warning, and the anticollision early warning dress of most accurate effective safety instruction is provided for bicyclist
Put and its method for early warning, be this area technical problem urgently to be resolved hurrily.
The content of the invention
In view of the above-mentioned problems existing in the prior art and demand, it is an object of the invention to provide one kind to pass through to bicyclist's week
The instantaneous distance and instantaneous velocity of side Moving Objects are accurately calculated, and carry out graduation early warning to different target mobile object
The anticollision prior-warning device and its method for early warning that are used for two wheeler or tricycle, with meet bicyclist it is accurate to warning information,
Indicate the strong demand of referential.
To achieve the above object, the present invention adopts the following technical scheme that：
A kind of anticollision prior-warning device for being used for two wheeler or tricycle, including radar cell, control unit and acousto-optic are pre-
Alert unit, described control unit are electrically connected with the radar cell for detecting surrounding objects mobile object, acousto-optic prewarning unit respectively
Connect row information exchange of going forward side by side, it is characterised in that：The radar cell includes the target velocity algorithm for estimating program based on self-focusing
Processing routine is classified with movable information, the acousto-optic prewarning unit is provided with the acoustical generator for being used for realization classification prompting or/and lights
Device.
A kind of embodiment, described anticollision prior-warning device are used for each side of bicyclist provided with multigroup independent operating
Target moving object carry out safe early warning radar cell, control unit and acousto-optic prewarning unit.
Further embodiment is that described anticollision prior-warning device is provided with two groups of independent operatings and be respectively used to riding
The target moving object of person left and right side carries out radar cell, control unit and the acousto-optic prewarning unit of safe early warning.
Further embodiment, two groups of radar cells, control unit and the acousto-optic prewarning unit are set with specular
In the both sides of handlebar.
A kind of embodiment, the speed estimation algorithms program include being used for the minimum entropy detection algorithm for carrying out rough search
Program and the image offset algorithm program of the accurate estimation for realizing target velocity.
A kind of embodiment, in order that can send, rhythm is different, frequency is different or/and sound-content is different carries the acoustical generator
Show the loudspeaker of sound.
As a kind of preferred scheme, the loudspeaker is arranged in handlebar and set towards bicyclist.
A kind of embodiment, color is different, bright-dark degree is different or/and flicker frequency is different in order that can send for the photophore
Prompting light electroluminescent lamp.
As a kind of preferred scheme, the electroluminescent lamp is arranged in handlebar and light emission direction is set towards bicyclist.
As a kind of preferred scheme, the electroluminescent lamp is LED.
As a kind of preferred scheme, described anticollision prior-warning device also includes power supply unit, and said supply unit is used for
Realize the operation of radar cell, control unit and acousto-optic prewarning unit.
As a kind of preferred scheme, described anticollision prior-warning device is additionally provided with the switch for controlling its operation with stopping
Button.
As further preferred scheme, the shift knob is arranged at the centre position of handlebar.
The method that the above-mentioned anticollision prior-warning device of the present invention realizes anticollision early warning, comprises the following steps：
Step 1, radar cell obtains the range information and velocity information of bicyclist's broadside target mobile object, and according to mesh
Mark the velocity information of mobile object and range information carries out being classified processing and exports classification processing result information to control unit；
Step 2, control system controls acousto-optic according to the information of the classification result exported by radar cell received
Prewarning unit makes corresponding sound or/and light prompt, so as to realize that grading forewarning system is prompted.
The method that the range information and velocity information of bicyclist's broadside target mobile object are obtained described in above-mentioned steps 1, it is
Realized by the target velocity algorithm for estimating based on self-focusing, first applied by the radar echo signal to target moving object
Minimum entropy detection algorithm is searched for obtain speed coarse value, and passes through distance to compression to original echoed signals, then by orientation pressure
Contracting obtains radar image；Then the speed of target moving object is accurately estimated with image offset algorithm；Finally according to ultrasonic wave
Range measurement principle obtains the distance of distance objective.This method can avoid directly using many repeat search processes of exhaustive search algorithm, carry
High efficiency of algorithm.
Classification processing described in step 1 is to carry out danger classes according to the range information or velocity information of target moving object to sentence
It is fixed：The first kind, when bicyclist apart from object is grave warning in 1m or when relative velocity is more than 3m/s；Second class, when riding
Person apart from object when 1~3m or relative velocity are in 2~3m/s for warning；3rd class, when bicyclist apart from object in 3~5m when
Or relative velocity is less than 1m/s to remind.
Grading forewarning system prompts for described in step 2：Three kinds of prompting modes are divided into according to danger classes, when control unit transmits sternly
During the signal alerted again, loudspeaker can send very brief continuous drop drop sound and electroluminescent lamp quick flashing；Given a warning when control unit
During signal, loudspeaker sends very brief drop drop sound three times and once yowl whistling and the lasting intermediate frequency of electroluminescent lamp flashes；Work as control unit
When sending the signal of prompting, the very brief drop drop sound of three sound was sent every one second for loudspeaker and electroluminescent lamp is bright does not dodge.
Compared with prior art, the present invention has the advantages that：
The present invention can provide side for bicyclist and sail the position for carrying out vehicle by accurately measuring, calculating and acousto-optic early warning
Information, range information and velocity information, so as to remind bicyclist correctly to be evaded and dodged, warning information more horn of plenty is real
With, bicyclist is kept more accurate, reasonable effective and safe distance or is provided the suitable safety escape time, can be effectively right
The potential collision of bicyclist side carries out early warning, so as to greatly reduce the incidence of accident.In addition, the present invention also has structure
Simply, methodological science, it is easy to use, cost is relatively low the advantages that, therefore, the present invention has significant progressive relative to prior art
Property, by with good social value and economic value.
Brief description of the drawings
Fig. 1 is a kind of structural representation for anticollision prior-warning device for being used for two wheeler or tricycle that embodiment 1 provides.
In figure：1- radar cells；2- control units；3- acousto-optic prewarning units；4- handlebars；5- power supply units；6- switches are pressed
Button；7- acoustical generators；8- lights.
Embodiment
Technical scheme is described in further detail by way of example and in conjunction with the accompanying drawings.
Embodiment 1
It is shown in Figure 1, the anticollision prior-warning device for being used for two wheeler or tricycle described in the present embodiment, including thunder
Up to unit 1, control unit 2 and acousto-optic prewarning unit 3, described control unit 2 respectively with for detecting surrounding objects mobile object
Radar cell 1, the electrical connection of acousto-optic prewarning unit 3 go forward side by side row information exchange, the radar cell 1 includes the mesh based on self-focusing
Speed estimation algorithms program and movable information classification processing routine are marked, the acousto-optic prewarning unit 3, which is provided with, to be used to realize that classification carries
The acoustical generator 7 or/and photophore 8 shown.
A kind of embodiment, described anticollision prior-warning device are used for each side of bicyclist provided with multigroup independent operating
Target moving object carries out radar cell 1, control unit 2 and the acousto-optic prewarning unit 3 of safe early warning.
Further embodiment is that described anticollision prior-warning device is provided with two groups of independent operatings and be respectively used to riding
Person left and right side target moving object carries out radar cell 1, control unit 2 and the acousto-optic prewarning unit 3 of safe early warning.
Further embodiment, two groups of radar cells 1, control unit 2 and the acousto-optic prewarning unit 3 are set with specular
Put in the both sides of handlebar 4.
A kind of embodiment, the speed estimation algorithms program include being used for the minimum entropy detection algorithm for carrying out rough search
Program and the image offset algorithm program of the accurate estimation for realizing target velocity.
A kind of embodiment, rhythm is different, frequency is different or/and sound-content is different in order that can send for the acoustical generator 7
The loudspeaker of prompt tone；The acoustical generator 7 is arranged in handlebar 4 and set towards bicyclist.
A kind of embodiment, the photophore 8 are that can send different color, bright-dark degree's difference or/and flicker frequency not
The electroluminescent lamp of same prompting light.The photophore 8 is arranged in handlebar 4 and light emission direction is set towards bicyclist.
As a kind of preferred scheme, the electroluminescent lamp is LED.
As a kind of preferred scheme, described anticollision prior-warning device also includes power supply unit 5, and said supply unit 5 is used
In the operation for realizing radar cell 1, control unit 2 and acousto-optic prewarning unit 3.
As a kind of preferred scheme, described anticollision prior-warning device is additionally provided with the switch for controlling its operation with stopping
Button 6, the shift knob 6 are arranged at the centre position of handlebar 4.
The method that described anticollision prior-warning device realizes anticollision early warning, comprises the following steps：
Step 1, the range information and velocity information of the acquisition of radar cell 1 bicyclist's broadside target mobile object, and according to
The velocity information and range information of target moving object are carried out being classified processing and exported classification processing result information single to control
Member 2；
Step 2, control unit 2 controls acousto-optic pre- according to the classification processing result information exported by radar cell received
Alert unit 3 makes corresponding sound or/and light prompt, so as to realize that grading forewarning system is prompted.
The method of the range information and velocity information of acquisition bicyclist's broadside target mobile object described in above-mentioned steps 1,
It is the target velocity algorithm for estimating based on self-focusing to realize, by the radar echo signal to target moving object first using most
Small entropy detection algorithm is searched for obtain speed coarse value, and passes through distance to compression to original echoed signals, then by Azimuth Compression
Obtain radar image；Wherein m represents localizer unit number, and n represents range cell number, order
Then radar image { Sm,nComentropy be defined as：
Then the speed of target moving object is accurately estimated with image offset algorithm, the method can be avoided directly with exhaustive
Many repeat search processes of search method, improve efficiency of algorithm；
Make fdrFor the actual frequency modulation rate of data, fdrmfFor the frequency modulation rate of azimuth match wave filter, Δ fdrFor orientation frequency modulation
Rate error, Δ faFor two regard data center place frequency intervals, then regard 2 relative to regard 1 orientation dislocation the time as：
Due to fdrmf=fdr+Δfdr, then：
And in the case of facingCan inverting obtain the correct velocity V of target.
The distance of distance objective is finally obtained according to ultrasonic ranging principle, specific algorithm is as follows：
Radar emission CW with frequency modulation signal is
St(τ)=ωr(τ)exp(j2πf0τ+jπKrτ2)
In formula：τ is distance to the time；ωr(τ) is apart from window function；f0For signal carrier frequency, KrFor chirp rate.
The target echo signal that radar receives is：
Sr(τ, t)=A0ωr(τ-2R(t)/c)exp{-j4πf0R(t)/c}exp{-j4πKr(τ-2Rref/c)(R(t)-
Rref)/c}
In formula：T is the orientation time；C is the light velocity；R (t) is the instantaneous distance of the phase center of target and radar；A0For
Amplitude constant, RrefFor reference distance.
The instantaneous distance equation that target and radar can be obtained is：
In formula：tcAt the time of passing through aperture center for target；Rlane-iWhen passing through aperture center for target and radar minimum
Oblique distance；T is the orientation time；R (t) is the instantaneous distance of the phase center of target and radar.
Classification processing is to carry out danger etc. according to the range information or velocity information of target moving object described in above-mentioned steps 1
Level judges：The first kind, when bicyclist apart from object is grave warning in 1m or when relative velocity is more than 3m/s；Second class, when
Bicyclist apart from object when 1~3m or relative velocity are in 2~3m/s for warning；3rd class, when bicyclist apart from object 3~
During 5m or relative velocity is less than 1m/s to remind.
Grading forewarning system described in above-mentioned steps 2 prompts for：Three kinds of prompting modes are divided into according to danger classes, when control unit passes
When carrying out the signal of grave warning, loudspeaker can send very brief continuous drop drop sound and electroluminescent lamp quick flashing；When control unit sends police
During the signal of announcement, loudspeaker sends very brief drop drop sound three times and once yowl whistling and the lasting intermediate frequency of electroluminescent lamp flashes；Work as control
When unit sends the signal of prompting, the very brief drop drop sound of three sound was sent every one second for loudspeaker and electroluminescent lamp is bright does not dodge.
Embodiment 2
The anticollision prior-warning device for being used for two wheeler or tricycle that the present embodiment provides, the difference with embodiment 1
It is only that：Be additionally provided with one group of radar cell, control unit and acousto-optic prewarning unit in vehicle tail, for detection vehicle before or
Target moving object of the travel direction of rear side perpendicular to bicyclist's travel direction.
It is last it is necessarily pointed out that：It the foregoing is only the preferable embodiment of the present invention, but the present invention
Protection domain be not limited thereto, any one skilled in the art the invention discloses technical scope in,
The change or replacement that can be readily occurred in, it should all be included within the scope of the present invention.
Claims (10)
1. a kind of anticollision prior-warning device for being used for two wheeler or tricycle, including radar cell, control unit and acousto-optic early warning
Unit, described control unit electrically connect with the radar cell for detecting surrounding objects mobile object, acousto-optic prewarning unit respectively
Row information of going forward side by side exchanges, it is characterised in that：The radar cell include target velocity algorithm for estimating program based on self-focusing and
Movable information is classified processing routine, and the acousto-optic prewarning unit is provided with the acoustical generator or/and photophore for being used for realizing classification prompting.
2. the anticollision prior-warning device according to claim 1 for being used for two wheeler or tricycle, it is characterised in that：Described
It is that anticollision prior-warning device is provided with two groups of independent operatings and be respectively used to the target moving object progress to bicyclist left and right side
Radar cell, control unit and the acousto-optic prewarning unit of safe early warning, and two groups of radar cells, control unit and acousto-optic are pre-
Alert unit is arranged at the both sides of handlebar with specular.
3. the anticollision prior-warning device according to claim 1 for being used for two wheeler or tricycle, it is characterised in that：The hair
Sound device is the loudspeaker that can send the prompt tone that rhythm is different, frequency is different or/and sound-content is different, and the loudspeaker is set
It is placed in handlebar and is set towards bicyclist.
4. the anticollision prior-warning device according to claim 1 for being used for two wheeler or tricycle, it is characterised in that：The hair
Light device is the electroluminescent lamp that can send the prompting light that color is different, bright-dark degree is different or/and flicker frequency is different, and described luminous
Lamp is arranged in handlebar and light emission direction is set towards bicyclist.
5. the anticollision prior-warning device according to any one of claim 1 to 4 for being used for two wheeler or tricycle, its feature
It is：Described anticollision prior-warning device also includes power supply unit, and said supply unit is used to realize radar cell, control unit
With the operation of acousto-optic prewarning unit.
6. the anticollision prior-warning device according to any one of claim 1 to 4 for being used for two wheeler or tricycle, its feature
It is：Described anticollision prior-warning device is additionally provided with the shift knob for controlling its operation with stopping, and the shift knob
It is arranged at the centre position of handlebar.
7. the anticollision prior-warning device for two wheeler or tricycle described in a kind of claim 1 realizes the side of anticollision early warning
Method, it is characterised in that methods described comprises the following steps：
Step 1, radar cell obtains the range information and velocity information of bicyclist's broadside target mobile object, and is moved according to target
The velocity information and range information of dynamic object carry out being classified processing and export classification processing result information to control unit；
Step 2, control system controls acousto-optic early warning according to the information of the classification result exported by radar cell received
Unit makes corresponding sound or/and light prompt, so as to realize that grading forewarning system is prompted.
8. according to the method for claim 7, it is characterised in that：In step 1, radar cell is the target speed based on self-focusing
Spend range information and velocity information that algorithm for estimating obtains bicyclist's broadside target mobile object.
9. according to the method for claim 8, it is characterised in that：The described target velocity algorithm for estimating based on self-focusing is
The radar echo signal of target moving object is first searched for obtain speed coarse value using minimum entropy detection algorithm, and to original time
Ripple signal obtains radar image by distance to compression, then by Azimuth Compression, is then accurately estimated with image offset algorithm
The speed of target moving object, the distance of distance objective is finally obtained according to ultrasonic ranging principle.
10. according to the method for claim 7, it is characterised in that：In step 1, the classification processing refers to be moved according to target
The range information or velocity information of dynamic object carry out danger classes judgement：The first kind, when bicyclist apart from object in 1m or phase
It is grave warning when being more than 3m/s to speed；Second class, as bicyclist apart from object in 1~3m or relative velocity in 2~3m/s
When for warning；3rd class, when bicyclist apart from object in 3~5m when or relative velocity be less than 1m/s for remind.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710701098.7A CN107479056A (en) | 2017-08-16 | 2017-08-16 | A kind of anticollision prior-warning device and its method for early warning for being used for two wheeler or tricycle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710701098.7A CN107479056A (en) | 2017-08-16 | 2017-08-16 | A kind of anticollision prior-warning device and its method for early warning for being used for two wheeler or tricycle |
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| CN107479056A true CN107479056A (en) | 2017-12-15 |
Family
ID=60599714
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710701098.7A Pending CN107479056A (en) | 2017-08-16 | 2017-08-16 | A kind of anticollision prior-warning device and its method for early warning for being used for two wheeler or tricycle |
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Cited By (3)
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| US20200361554A1 (en) * | 2018-03-01 | 2020-11-19 | Honda Motor Co., Ltd. | Straddle type vehicle |
| JPWO2019180829A1 (en) * | 2018-03-20 | 2021-02-25 | 本田技研工業株式会社 | Saddle-type vehicle |
| FR3122927A1 (en) * | 2021-05-17 | 2022-11-18 | Actia Group | Maneuvering Aid for cyclists |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20200361554A1 (en) * | 2018-03-01 | 2020-11-19 | Honda Motor Co., Ltd. | Straddle type vehicle |
| US11794840B2 (en) * | 2018-03-01 | 2023-10-24 | Honda Motor Co., Ltd. | Straddle type vehicle |
| JPWO2019180829A1 (en) * | 2018-03-20 | 2021-02-25 | 本田技研工業株式会社 | Saddle-type vehicle |
| FR3122927A1 (en) * | 2021-05-17 | 2022-11-18 | Actia Group | Maneuvering Aid for cyclists |
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Application publication date: 20171215 |