CN108189754A - A kind of automobile anti-collision method of multipoint mode active probe - Google Patents
A kind of automobile anti-collision method of multipoint mode active probe Download PDFInfo
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- CN108189754A CN108189754A CN201711410008.5A CN201711410008A CN108189754A CN 108189754 A CN108189754 A CN 108189754A CN 201711410008 A CN201711410008 A CN 201711410008A CN 108189754 A CN108189754 A CN 108189754A
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Classifications
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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
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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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
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- Automation & Control Theory (AREA)
- Transportation (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a kind of automobile anti-collision method of multipoint mode active probe, including step：First, the anti-collision system for automobile of multipoint mode active probe is established；2nd, the coordinate system based on vehicle body is built；3rd, moving obstacle real time position is obtained；4th, fitting and predicted motion barrier track；5th, moving obstacle track is shown and early warning.The present invention utilizes the detection moving obstacle for the real-time active of radar detedtor that three are no less than on four side panel of automobile, static state, the identification of dynamic object, detecting and tracking are carried out to moving obstacle, utilize the distance and the coordinate positioned at the azimuth of automobile body acquisition moving obstacle of moving obstacle and automobile body, the coordinate precision of moving obstacle is improved by way of repeatedly calculating and taking mean value, moving obstacle track is obtained by the way of curve matching, so as to which driver be allowed to perceive the danger that may occur in advance.
Description
Technical field
The invention belongs to automobile collision preventing technical fields, and in particular to a kind of automobile anti-collision method of multipoint mode active probe.
Background technology
For current automotive technology development, driving sight blind area or unavoidable, after room mirror and left and right
Visor limited viewing angle even if loading onto reverse image and radar for backing car, can only also play booster action, especially for new hand, drive
Sail and lack experience, can only by means of rearview mirror, reverse image and radar, can not accurate judgement blind area situation, exist greatly
Security risk, existing traffic become increasingly complex, and fortuitous event happens occasionally, and single-point type radar detection mode can not meet
The security risk that motor vehicle environment any direction is brought；Therefore, nowadays lack a kind of reasonable design, the simple multipoint mode master of step
The automobile anti-collision method of dynamic detection, utilizes the detection for the real-time active of radar detedtor that three are no less than on four side panel of automobile
Moving obstacle carries out static state, the identification of dynamic object, detecting and tracking, so as to driver be allowed to examine in advance to moving obstacle
Feel the danger that may occur.
Invention content
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that provide a kind of multipoint mode master
The automobile anti-collision method of dynamic detection, utilizes the detection for the real-time active of radar detedtor that three are no less than on four side panel of automobile
Moving obstacle carries out static state, the identification of dynamic object, detecting and tracking to moving obstacle, utilizes moving obstacle and vapour
The distance of vehicle ontology and the coordinate that moving obstacle is obtained positioned at the azimuth of automobile body, mean value is taken by repeatedly calculating
Mode improves the coordinate precision of moving obstacle, and moving obstacle track is obtained by the way of curve matching, so as to allow in advance
Driver perceives the danger that may occur, convenient for promoting the use of.
In order to solve the above technical problems, the technical solution adopted by the present invention is：A kind of automobile of multipoint mode active probe is prevented
Hit method, which is characterized in that this method includes the following steps：
Step 1: establish the anti-collision system for automobile of multipoint mode active probe：Front panel, trailing flank in car body
Installation no less than three radar detections for being used for active probe dyskinesia object location respectively in plate, Left-Hand Panel and right panel
Device, while establish the automobile collision preventing subsystem handled for the data detected to each radar detedtor, the automobile
Anticollision subsystem and the anti-collision system for automobile of radar detedtor composition multipoint mode active probe；The automobile collision preventing subsystem includes
It Vehicle Controller and installs to detect the vertical angular measurement of electronics of car body vertical angle on the chassis of car body
Instrument and the display to connect with the output terminal of Vehicle Controller and the alarm for driver to be prompted to avoid moving obstacle
Device, the vertical angle measuring instrument of electronics and radar detedtor connect with the input terminal of Vehicle Controller；
The equal position of radar detedtor installed in the front panel of car body, rear side panel, Left-Hand Panel and right panel
In on same plane；
Step 2: coordinate system of the structure based on vehicle body：With where multiple radar detedtors in the same plane
The geometric center position of plane is coordinate origin O, using the front of car body straight ahead traveling as Y-axis positive direction, with water
It is flat perpendicular to Y-axis and to be directed toward the direction of right panel by Left-Hand Panel be X-axis positive direction, with vertically perpendicular to Y-axis and by automobile
The coordinate system O-XYZ based on vehicle body is established in the direction that car body top plate is directed toward on the chassis of car body for Z axis positive direction；
Step 3: obtaining moving obstacle real time position, process is as follows：
Step 301 determines effective radar detedtor：Using multiple radar detedtors detect simultaneously moving obstacle respectively away from
With a distance from multiple radar detedtors, and by multiple range data real-time Transmissions to Vehicle Controller, Vehicle Controller is to multiple
Range data is sorted from small to large, and the radar detedtor corresponding to first three range data after setting sequence is effective
Radar detedtor, three effective radar detedtors are three continuous radar detedtors, this three continuous radar detedtors according to
It is secondary be first effective radar detedtor A, second effective radar detedtor B and the effective radar detedtor C of third, set dyskinesia
The position of object is point P；
Step 302, according to formulaIt is effective to calculate second effective radar detedtor B and first
The reference azimuth of radar detedtor AWherein, XAFor the X-axis coordinate of first effective radar detedtor A, YAFor first effectively
The Y-axis coordinate of radar detedtor A, XBFor the X-axis coordinate of second effective radar detedtor B, YBFor second effective radar detedtor B
Y-axis coordinate,
According to formulaCalculate the effective effective radar detections of radar detedtor C and second of third
The reference azimuth of device BWherein, XCFor the X-axis coordinate of the effective radar detedtor C of third, YCFor the effective radar detection of third
The Y-axis coordinate of device C,
Step 303, the azimuth angle alpha for determining second effective effective radar detedtor A of radar detedtor B and firstBA：
Work as XA-XB>0 and YA-YB>When 0, azimuth
Work as XA-XB<0 and YA-YB>When 0, azimuth
Work as XA-XB<0 and YA-YB<When 0, azimuth
Work as XA-XB>0 and YA-YB<When 0, azimuth
Determine the azimuth angle alpha of the effective radar detedtor B of the effective radar detedtor C and second of thirdCB：
Work as XB-XC>0 and YB-YC>When 0, azimuth
Work as XB-XC<0 and YB-YC>When 0, azimuth
Work as XB-XC<0 and YB-YC<When 0, azimuth
Work as XB-XC>0 and YB-YC<When 0, azimuth
Step 304, according to formulaCalculate first effective radar detedtor A and point P's
Azimuth angle alphaAPWith the initial orientation angle α ' of second effective radar detedtor B and point PBP, wherein, ∠ BAP are LBAWith LAPAngle and∠ ABP are LBAWith LBPAngle andLBA
For the line segment of second effective effective radar detedtor A of radar detedtor B to first, LAPFor first effective radar detedtor A to point P
Line segment, LBPFor the line segment of second effective radar detedtor B to point P, αABIt is effective for first effective radar detedtor A to second
The azimuth of radar detedtor B；
According to formulaCalculate the update orientation of second effective radar detedtor B and point P
Angle α "BPWith the azimuth angle alpha of the effective radar detedtor C of third and point PCP, wherein, ∠ CBP are LCBWith LBPAngle and∠ BCP are LCBWith LCPAngle andLCB
For the line segment of the effective radar detedtor B of the effective radar detedtor C to second of third, LCPFor the effective radar detedtor C of third to point P
Line segment, αBCFor second effective radar detedtor B to the azimuth of the effective radar detedtor C of third；
According to formulaCalculate the azimuth angle alpha of second effective radar detedtor B and point PBP；
Step 305, according to formulaCalculate LAPDeflection βAP；
According to formulaCalculate LBPDeflection βBP；
According to formulaCalculate LCPDeflection βCP；
Step 306, according to formulaFirst effective radar detedtor A and point P are calculated in X axis
Direction cosines γAPx, first effective radar detedtor A and point P Y-axis direction cosines γAPy, first effective radar detection
Device A and point P Z axis to direction cosines γAPz, wherein, V is the vertical angle of car body that the vertical angle measuring instrument of electronics measures；
According to formulaSecond effective radar detedtor B and point P are calculated more than the direction of X axis
String γBPx, second effective radar detedtor B and point P Y-axis direction cosines γBPy, second effective radar detedtor B and point P
Z axis to direction cosines γBPz；
According to formulaThe effective radar detedtor C of third and point P are calculated more than the direction of X axis
String γCPx, third effective radar detedtor C and point P Y-axis direction cosines γCPy, third effective radar detedtor C and point P
Z axis to direction cosines γCPz；
Step 307, according to formulaCalculate the initial first coordinate (X of point PAP,YAP,ZAP),
In, Δ XAPFor LAPIn the component and Δ X of X-axisAP=LAP*γAPx, Δ YAPFor LAPIn the component and Δ Y of Y-axisAP=LAP*γAPy,
ΔZAPFor LAPIn the component and Δ Z of Z axisAP=LAP*γAPz；
According to formulaCalculate the initial second coordinate (X of point PBP,YBP,ZBP), wherein, Δ XBPFor
LBPIn the component and Δ X of X-axisBP=LBP*γBPx, Δ YBPFor LBPIn the component and Δ Y of Y-axisBP=LBP*γBPy, Δ ZBPFor LBP
The component and Δ Z of Z axisBP=LBP*γBPz；
According to formulaCalculate the initial third coordinate (X of point PCP,YCP,ZCP), wherein, Δ XCPFor
LCPIn the component and Δ X of X-axisCP=LCP*γCPx, Δ YCPFor LCPIn the component and Δ Y of Y-axisCP=LCP*γCPy, Δ ZCPFor LCP
The component and Δ Z of Z axisCP=LCP*γCPz；
Step 308, according to formulaCalculate the update coordinate (X of point PP,YP,ZP)；
Step 309, n times utilize first effective radar detedtor A, second effective radar detedtor B and the effective radar of third
Detector C active probe moving obstacle distance, and n times circulation step 304 obtains the point P of n times different moments to step 308
Update coordinate, obtain the real time position of moving obstacle, the update coordinate of the point P of n times different moments forms observation data set
Close Q={ (x1,y1,z1),(x2,y2,z2),...,(xi,yi,zi),...,(xn,yn,zn), wherein, n is just whole not less than 4
Number, i is numbered for effective radar detedtor detection times and 1≤i≤n, (xi,yi,zi) it is the point P that Vehicle Controller ith calculates
Update coordinate；
Step 4: fitting and predicted motion barrier track, process are as follows：
Step 401 obtains effectively observation data acquisition system Q'：Using Vehicle Controller to observing data acquisition system Q={ (x1,y1,
z1),(x2,y2,z2),...,(xi,yi,zi),...,(xn,yn,zn) dimension-reduction treatment is done, the X-axis of the update coordinate of selected point P is sat
Scale value and Y-axis coordinate value form effectively observation data acquisition system Q', effectively observe data acquisition system Q'={ (x1,y1),(x2,
y2),...,(xi,yi),...,(xn,yn)}；
Step 402 determines Ball curve and builds quadratic polynomial：Vehicle Controller sets Ball curve, the base letter
Number race includes δ0(x)=1, δ1(x)=x and δ2(x)=x2, Vehicle Controller structure quadratic polynomial s (x)=a0δ0(x)+a1δ1
(x)+a2δ2(x), wherein, a0For δ in quadratic polynomial s (x)0(x) coefficient, a1For δ in quadratic polynomial s (x)1(x) be
Number, a2For δ in quadratic polynomial s (x)2(x) coefficient；
Step 403, according to formulaCalculate two
The coefficient matrix of order polynomial s (x)And bring quadratic polynomial s (x)=a into0+a1x+a2x2, Vehicle Controller intended
Curve is closed, realizes the prediction of moving obstacle track, wherein, δ0For by δ0(x)=1 the n-dimensional vector and δ of composition0=[1,1 ...,
1,…,1]T, δ1For by δ1(x) n-dimensional vector and δ of=x compositions1=[x1,x2,…,xi,…,xn]T, δ2For by δ2(x)=x2Group
Into n-dimensional vector and
Step 5: moving obstacle track is shown and early warning：Utilize the movement rail of display screen real-time display moving obstacle
Mark sets safe distance threshold value of the moving obstacle apart from car body, when moving obstacle and automobile by Vehicle Controller
When the distance of car body is not more than safe distance threshold value, Vehicle Controller control alarm early warning.
A kind of automobile anti-collision method of above-mentioned multipoint mode active probe, it is characterised in that：According to formula in step 304Calculate the reference azimuth of first effective effective radar detedtor B of radar detedtor A and secondDetermine the azimuth angle alpha of first effective effective radar detedtor B of radar detedtor A and secondAB：
Work as XB-XA>0 and YB-YA>When 0, azimuth
Work as XB-XA<0 and YB-YA>When 0, azimuth
Work as XB-XA<0 and YB-YA<When 0, azimuth
Work as XB-XA>0 and YB-YA<When 0, azimuth
According to formula in step 304It calculates second effective radar detedtor B and third is effective
The reference azimuth of radar detedtor CDetermine the orientation of second effective radar detedtor B and the effective radar detedtor C of third
Angle αBC：
Work as XC-XB>0 and YC-YB>When 0, azimuth
Work as XC-XB<0 and YC-YB>When 0, azimuth
Work as XC-XB<0 and YC-YB<When 0, azimuth
Work as XC-XB>0 and YC-YB<When 0, azimuth
A kind of automobile anti-collision method of above-mentioned multipoint mode active probe, it is characterised in that：The alarm includes voice
Prompting device and LED flashing lights, the voice prompting device and the LED flashing lights connect with the output terminal of Vehicle Controller.
A kind of automobile anti-collision method of above-mentioned multipoint mode active probe, it is characterised in that：The safe distance threshold value is
0.5m~1m.
Compared with the prior art, the present invention has the following advantages：
1st, the present invention by pacifying respectively in the front panel of car body, rear side panel, Left-Hand Panel and right panel
Dress is no less than three radar detedtors, and active probe dyskinesia object location meets dyskinesia in motor vehicle environment any direction
The security risk that object is brought, the situation of moving obstacle can not be accurately identified by reducing vehicle blind zone, convenient for promoting the use of.
2nd, the present invention sorts from small to large to multiple range data using Vehicle Controller, first three after setting sequence
Radar detedtor corresponding to a range data is effective radar detedtor, utilizes two adjacent in three radar detedtors
Radar detedtor forms triangular relationship with moving obstacle, obtains the coordinate of moving obstacle, is averaged using coordinates computed
Mode obtain the update coordinate of moving obstacle, and then obtain the real time position of moving obstacle, reliable and stable, using effect
It is good.
3rd, the method for the present invention step is simple, and the update coordinate of moving obstacle is carried out using the mode of multi-point fitting curve
Curve matching obtains the track of moving obstacle and the track of predicted motion barrier, realize the detecting of moving obstacle with
Tracking, so as to which driver be allowed to perceive the danger that may occur in advance, convenient for promoting the use of.
In conclusion spy of the present invention using the real-time active of radar detedtor that three are no less than on four side panel of automobile
Survey moving obstacle, static state, the identification of dynamic object, detecting and tracking carried out to moving obstacle, using moving obstacle and
The distance of automobile body and the coordinate that moving obstacle is obtained positioned at the azimuth of automobile body, mean value is taken by repeatedly calculating
Mode improve the coordinate precision of moving obstacle, moving obstacle track is obtained by the way of curve matching, so as in advance
Driver is allowed to perceive the danger that may occur, convenient for promoting the use of.
Below by drawings and examples, technical scheme of the present invention is described in further detail.
Description of the drawings
Fig. 1 is car body of the present invention, radar detedtor and moving obstacle in the coordinate system O-XYZ based on vehicle body
In head-down position relation schematic diagram.
Fig. 2 is the schematic block circuit diagram of the anti-collision system for automobile of multipoint mode active probe of the present invention.
Fig. 3 is the method flow block diagram of the present invention.
Reference sign:
1-radar detedtor；2-Vehicle Controller；3-display；
4-alarm；5-car body；6-moving obstacle；
The vertical angle measuring instrument of 7-electronics.
Specific embodiment
A kind of automobile anti-collision method of multipoint mode active probe as shown in Figure 1, Figure 2 and Figure 3, includes the following steps：
Step 1: establish the anti-collision system for automobile of multipoint mode active probe：Front panel, trailing flank in car body 5
Installation no less than three radars for 6 position of active probe moving obstacle are visited respectively in plate, Left-Hand Panel and right panel
Device 1 is surveyed, while establishes the automobile collision preventing subsystem handled for the data detected to each radar detedtor 1, it is described
Automobile collision preventing subsystem forms the anti-collision system for automobile of multipoint mode active probe with radar detedtor 1；The automobile collision preventing subsystem
System includes Vehicle Controller 2 and installs on the chassis of car body 5 to erect for detecting the electronics of 5 vertical angle of car body
Rectangular meter 7 and the display 3 to connect with the output terminal of Vehicle Controller 2 and for prompt driver avoid movement barrier
Hinder the alarm 4 of object 6, the vertical angle measuring instrument 7 of electronics and input terminal of the radar detedtor 1 with Vehicle Controller 2 connect；
The radar detedtor 1 installed in the front panel of car body 5, rear side panel, Left-Hand Panel and right panel is equal
It is in the same plane；
It should be noted that on front panel, rear side panel, Left-Hand Panel and right panel in car body 5 respectively
Installation is no less than three radar detedtors 1, and the purpose of 6 position of active probe moving obstacle is to realize motor vehicle environment any direction
The security risk that upper moving obstacle is brought, the situation of moving obstacle can not be accurately identified by reducing vehicle blind zone, realize multiple spot
The pattern of formula active probe, the data detected using Vehicle Controller 2 to radar detedtor 1 are handled, can using display 3
The position relationship of real-time display car body 5 and moving obstacle 6, is checked convenient for driver, intuitive and reliable, utilizes alarm 4
The people on driver or moving obstacle 6 can effectively be prompted, holding safe distance as possible, using effect is good；Car body 5
The radar detedtor 1 installed in front panel, rear side panel, Left-Hand Panel and right panel, which is respectively positioned on same plane, to be convenient for
The coordinate system based on vehicle body is established, improves the detection accuracy of radar detedtor 1, simplifies calculating process.
Step 2: coordinate system of the structure based on vehicle body：With where multiple radar detedtors 1 in the same plane
The geometric center position of plane is coordinate origin O, using the front of 5 straight ahead of car body traveling as Y-axis positive direction, with water
It is flat perpendicular to Y-axis and to be directed toward the direction of right panel by Left-Hand Panel be X-axis positive direction, with vertically perpendicular to Y-axis and by automobile
The coordinate system O-XYZ based on vehicle body is established in the direction that 5 top plate of car body is directed toward on the chassis of car body 5 for Z axis positive direction；
Step 3: obtaining moving obstacle real time position, process is as follows：
Step 301 determines effective radar detedtor：Moving obstacle 6 is detected using multiple radar detedtors 1 simultaneously to distinguish
Distance apart from multiple radar detedtors 1, and by multiple range data real-time Transmissions to Vehicle Controller 2, Vehicle Controller 2 is right
Multiple range data are sorted from small to large, and the radar detedtor 1 corresponding to first three range data after setting sequence is equal
For effective radar detedtor, three effective radar detedtors are three continuous radar detedtors 1, this three continuous radars are visited
It surveys device 1 and is followed successively by first effective radar detedtor A, second effective radar detedtor B and the effective radar detedtor C of third, set
The position of moving obstacle 6 is point P；
It should be noted that Vehicle Controller 2 sorts from small to large to multiple range data, before setting after sequence
Radar detedtor 1 corresponding to three range data is that the purpose of effective radar detedtor is simplified calculating process, positioned at same
6 data of moving obstacle that radar detedtor 1 in the car panel of side detects approach, the data for selecting first three distance minimum
First, in order to improve anti-interference, avoid once calculating 6 coordinate of moving obstacle obtained there are error, second is that in order to simplify meter
It calculates, a large amount of data is avoided to cause calculated load big to Vehicle Controller 2, causes data operation speed slow, meets data acquisition
Precision, in actual use, three effective radar detedtors are three continuous radar detedtors 1, and three continuous radars are visited
It surveys device 1 and is named as first effective radar detedtor A, second effective radar detedtor B and the effective radar detection of third successively respectively
Device C is named as successively to the effective radar detedtor of any three selected according to the position continuity installed in car body 5
One effective radar detedtor A, second effective radar detedtor B and the effective radar detedtor C of third.
Step 302, according to formulaIt is effective to calculate second effective radar detedtor B and first
The reference azimuth of radar detedtor AWherein, XAFor the X-axis coordinate of first effective radar detedtor A, YAFor first effectively
The Y-axis coordinate of radar detedtor A, XBFor the X-axis coordinate of second effective radar detedtor B, YBFor second effective radar detedtor B
Y-axis coordinate,
According to formulaCalculate the effective effective radar detections of radar detedtor C and second of third
The reference azimuth of device BWherein, XCFor the X-axis coordinate of the effective radar detedtor C of third, YCFor the effective radar detection of third
The Y-axis coordinate of device C,
Step 303, the azimuth angle alpha for determining second effective effective radar detedtor A of radar detedtor B and firstBA：
Work as XA-XB>0 and YA-YB>When 0, azimuth
Work as XA-XB<0 and YA-YB>When 0, azimuth
Work as XA-XB<0 and YA-YB<When 0, azimuth
Work as XA-XB>0 and YA-YB<When 0, azimuth
Determine the azimuth angle alpha of the effective radar detedtor B of the effective radar detedtor C and second of thirdCB：
Work as XB-XC>0 and YB-YC>When 0, azimuth
Work as XB-XC<0 and YB-YC>When 0, azimuth
Work as XB-XC<0 and YB-YC<When 0, azimuth
Work as XB-XC>0 and YB-YC<When 0, azimuth
It should be noted that due to first effective radar detedtor A, second effective radar detedtor B and the effective thunder of third
It is fixed up to detector C in the position that car body 5 is installed, second effective effective radar detedtor A's of radar detedtor B and first
Azimuth is to determine value, and the azimuth of the effective radar detedtor B of the effective radar detedtor C and second of third is to determine value.
Step 304, according to formulaCalculate first effective radar detedtor A and point P's
Azimuth angle alphaAPWith the initial orientation angle α ' of second effective radar detedtor B and point PBP, wherein, ∠ BAP are LBAWith LAPAngle and∠ ABP are LBAWith LBPAngle andLBA
For the line segment of second effective effective radar detedtor A of radar detedtor B to first, LAPFor first effective radar detedtor A to point P
Line segment, LBPFor the line segment of second effective radar detedtor B to point P, αABIt is effective for first effective radar detedtor A to second
The azimuth of radar detedtor B；
According to formula in step 304It is effective to calculate first effective radar detedtor A and second
The reference azimuth of radar detedtor BDetermine the orientation of first effective effective radar detedtor B of radar detedtor A and second
Angle αAB：
Work as XB-XA>0 and YB-YA>When 0, azimuth
Work as XB-XA<0 and YB-YA>When 0, azimuth
Work as XB-XA<0 and YB-YA<When 0, azimuth
Work as XB-XA>0 and YB-YA<When 0, azimuth
According to formulaCalculate the update orientation of second effective radar detedtor B and point P
Angle α "BPWith the azimuth angle alpha of the effective radar detedtor C of third and point PCP, wherein, ∠ CBP are LCBWith LBPAngle and∠ BCP are LCBWith LCPAngle andLCB
For the line segment of the effective radar detedtor B of the effective radar detedtor C to second of third, LCPFor the effective radar detedtor C of third to point P
Line segment, αBCFor second effective radar detedtor B to the azimuth of the effective radar detedtor C of third；
According to formula in step 304It calculates second effective radar detedtor B and third is effective
The reference azimuth of radar detedtor CDetermine the orientation of second effective radar detedtor B and the effective radar detedtor C of third
Angle αBC：
Work as XC-XB>0 and YC-YB>When 0, azimuth
Work as XC-XB<0 and YC-YB>When 0, azimuth
Work as XC-XB<0 and YC-YB<When 0, azimuth
Work as XC-XB>0 and YC-YB<When 0, azimuth
According to formulaCalculate the azimuth angle alpha of second effective radar detedtor B and point PBP；
It should be noted that due to first effective radar detedtor A, second effective radar detedtor B and the effective thunder of third
It is fixed up to detector C in the position that car body 5 is installed, first effective effective radar detedtor B phases of radar detedtor A and second
Neighbour, second effective radar detedtor B and the effective radar detedtor C of third are adjacent, therefore first effective radar detedtor A of selection,
Second effective radar detedtor B and point P forms a triangular structure, chooses second effective radar detedtor B, the effective thunder of third
Another triangular structure is formed up to detector C and point P, and the first effective radar detedtor A and effective radar detedtor C of third
Distance relatively far away from, therefore, in order to improve computational accuracy, reduces data interference, gives up first effective radar detedtor A, third
The triangular structure that effective radar detedtor C and point P is formed.
Step 305, according to formulaCalculate LAPDeflection βAP；
According to formulaCalculate LBPDeflection βBP；
According to formulaCalculate LCPDeflection βCP；
Step 306, according to formulaFirst effective radar detedtor A and point P are calculated in X axis
Direction cosines γAPx, first effective radar detedtor A and point P Y-axis direction cosines γAPy, first effective radar detection
Device A and point P Z axis to direction cosines γAPz, wherein, V is the vertical of the car body that the vertical angle measuring instrument 7 of electronics measures
Angle；
According to formulaSecond effective radar detedtor B and point P are calculated more than the direction of X axis
String γBPx, second effective radar detedtor B and point P Y-axis direction cosines γBPy, second effective radar detedtor B and point P
Z axis to direction cosines γBPz；
According to formulaThe effective radar detedtor C of third and point P are calculated more than the direction of X axis
String γCPx, third effective radar detedtor C and point P Y-axis direction cosines γCPy, third effective radar detedtor C and point P
Z axis to direction cosines γCPz；
It should be noted that it is mounted on due to the vertical angle measuring instrument 7 of electronics on the chassis of car body 5, with car body 5
Synchronizing moving, radar detedtor 1 are mounted on car body 5, the car body 5 that the vertical angle measuring instrument 7 of electronics measures it is vertical
The vertical angle of angle and radar detedtor 1 is same vertical angle, and the perpendicular of car body 5 is measured using the vertical angle measuring instrument 7 of electronics
Right angle calculates point P changing coordinates, and when car body 5 moves, radar detedtor 1 and the position of moving obstacle 6 change,
The vertical angle variation with the variation of position of car body 5, the current vertical angle measured using the vertical angle measuring instrument 7 of electronics and thunder
It is synchronized up to 1 detection data of detector.
Step 307, according to formulaCalculate the initial first coordinate (X of point PAP,YAP,ZAP),
In, Δ XAPFor LAPIn the component and Δ X of X-axisAP=LAP*γAPx, Δ YAPFor LAPIn the component and Δ Y of Y-axisAP=LAP*γAPy,
ΔZAPFor LAPIn the component and Δ Z of Z axisAP=LAP*γAPz；
According to formulaCalculate the initial second coordinate (X of point PBP,YBP,ZBP), wherein, Δ XBPFor
LBPIn the component and Δ X of X-axisBP=LBP*γBPx, Δ YBPFor LBPIn the component and Δ Y of Y-axisBP=LBP*γBPy, Δ ZBPFor LBP
The component and Δ Z of Z axisBP=LBP*γBPz；
According to formulaCalculate the initial third coordinate (X of point PCP,YCP,ZCP), wherein, Δ XCPFor
LCPIn the component and Δ X of X-axisCP=LCP*γCPx, Δ YCPFor LCPIn the component and Δ Y of Y-axisCP=LCP*γCPy, Δ ZCPFor LCP
The component and Δ Z of Z axisCP=LCP*γCPz；
It should be noted that the coordinate of primary point P is calculated using the position relationship of first effective radar detedtor A and point P,
It calculates the coordinate of primary point P again using the position relationship of second effective radar detedtor B and point P, is visited using the effective radar of third
The position relationship third time for surveying device C and point P calculates the coordinate of point P, avoids mushing error existing for single calculation.
Step 308, according to formulaCalculate the update coordinate (X of point PP,YP,ZP)；
It should be noted that by the use of the P calculated three times initial coordinate mean value as point P update coordinate, data essence
Degree is high, calculates good reliability.
Step 309, n times utilize first effective radar detedtor A, second effective radar detedtor B and the effective radar of third
6 distance of detector C active probe moving obstacle, and n times circulation step 304 obtains the point P of n times different moments to step 308
Update coordinate, obtain the real time position of moving obstacle 6, the update coordinate of the point P of n times different moments, which is formed, observes data set
Close Q={ (x1,y1,z1),(x2,y2,z2),...,(xi,yi,zi),...,(xn,yn,zn), wherein, n is just whole not less than 4
Number, i is numbered for effective radar detedtor detection times and 1≤i≤n, (xi,yi,zi) it is the point that 2 ith of Vehicle Controller calculates
The update coordinate of P；
It should be noted that n times are effective using first effective radar detedtor A, second effective radar detedtor B and third
6 distance of radar detedtor C active probes moving obstacle, and the update coordinate for constantly calculating the point P of different moments can obtain n
The discrete point of a point P, obtains the real time position of moving obstacle 6.
Step 4: fitting and predicted motion barrier track, process are as follows：
Step 401 obtains effectively observation data acquisition system Q'：Using Vehicle Controller 2 to observing data acquisition system Q={ (x1,
y1,z1),(x2,y2,z2),...,(xi,yi,zi),...,(xn,yn,zn) do dimension-reduction treatment, the X-axis of the update coordinate of selected point P
Coordinate value and Y-axis coordinate value form effectively observation data acquisition system Q', effectively observe data acquisition system Q'={ (x1,y1),(x2,
y2),...,(xi,yi),...,(xn,yn)}；
In actual use, since car body 5 and moving obstacle 6 are the three-dimensional object positioned at ground moving, movement
Barrier 6 does not influence the trail change of 6 forward-reverse of moving obstacle with the contour Z axis value of radar detedtor 1, therefore, only adopts
With the X-axis coordinate value of the update coordinate of point P and Y-axis coordinate value fitting track.
Step 402 determines Ball curve and builds quadratic polynomial：Vehicle Controller 2 sets Ball curve, the base letter
Number race includes δ0(x)=1, δ1(x)=x and δ2(x)=x2, the structure quadratic polynomial s of Vehicle Controller 2 (x)=a0δ0(x)+a1δ1
(x)+a2δ2(x), wherein, a0For δ in quadratic polynomial s (x)0(x) coefficient, a1For δ in quadratic polynomial s (x)1(x) be
Number, a2For δ in quadratic polynomial s (x)2(x) coefficient；
Step 403, according to formulaCalculate two
The coefficient matrix of order polynomial s (x)And bring quadratic polynomial s (x)=a into0+a1x+a2x2, Vehicle Controller 2 intended
Curve is closed, realizes the prediction of 6 track of moving obstacle, wherein, δ0For by δ0(x)=1 the n-dimensional vector and δ of composition0=[1,
1,…,1,…,1]T, δ1For by δ1(x) n-dimensional vector and δ of=x compositions1=[x1,x2,…,xi,…,xn]T, δ2For by δ2(x)=
x2The n-dimensional vector of composition and
It should be noted that moving obstacle 6 can only be obtained using the update coordinate of the point P of different moments in step 3
Current location can not predict the position of 6 subsequent time of moving obstacle, and therefore, the purpose of this step is used using known point
The mode of quadratic polynomial matched curve obtains the movement locus of moving obstacle 6, realizes the position of 6 subsequent time of moving obstacle
The precognition put, so as to allow in advance driver perceive may generation danger, and according to the update coordinate of point P it is continuous obtain and
When corrective exercise barrier 6 track, practical to calculate, 6 track of moving obstacle is relative to the independent coordinate based on vehicle body
System, real-time are good with relativity.
Step 5: moving obstacle track is shown and early warning：Utilize the movement of 3 real-time display moving obstacle 6 of display screen
Track sets safe distance threshold value of the moving obstacle 6 apart from car body 5, when moving obstacle 6 by Vehicle Controller 2
When being not more than safe distance threshold value with the distance of car body 5, Vehicle Controller 2 controls 4 early warning of alarm.
In the present embodiment, the alarm 4 includes voice prompting device and LED flashing lights, the voice prompting device and described
Output terminal of the LED flashing lights with Vehicle Controller 2 connects.
In the present embodiment, the safe distance threshold value is 0.5m~1m.
It should be noted that using the movement locus of 3 real-time display moving obstacle 6 of display screen, when there is moving obstacle 6
During close to safe distance threshold value, alarm 4 can prompt driver dangerous, while can pass through LED flashing lights by voice prompting device
Strong standby signal is sent out, the people of moving obstacle 6 is prompted to pay attention to travel direction and travel speed, it is various to play safety
Protective action.
The above is only presently preferred embodiments of the present invention, not the present invention is imposed any restrictions, every according to the present invention
Any simple modification, change and the equivalent structure that technical spirit makees above example change, and still fall within skill of the present invention
In the protection domain of art scheme.
Claims (4)
1. a kind of automobile anti-collision method of multipoint mode active probe, which is characterized in that this method includes the following steps：
Step 1: establish the anti-collision system for automobile of multipoint mode active probe：Front panel, rear side panel in car body (5),
Installation no less than three radar detections for being used for active probe moving obstacle (6) position respectively on Left-Hand Panel and right panel
Device (1), while establish the automobile collision preventing subsystem handled for the data detected to each radar detedtor (1), institute
State automobile collision preventing subsystem and the anti-collision system for automobile of radar detedtor (1) composition multipoint mode active probe；The automobile collision preventing
Subsystem includes Vehicle Controller (2) and installs to detect car body (5) vertically on the chassis of car body (5)
The vertical angle measuring instrument of electronics (7) at angle and the display (3) to connect with the output terminal of Vehicle Controller (2) and for carrying
Show that driver avoids the alarm (4) of moving obstacle (6), the vertical angle measuring instrument of electronics (7) and radar detedtor (1) with it is vehicle-mounted
The input terminal of controller (2) connects；
The radar detedtor (1) installed in the front panel of car body (5), rear side panel, Left-Hand Panel and right panel is equal
It is in the same plane；
Step 2: coordinate system of the structure based on vehicle body：With flat where multiple radar detedtors (1) in the same plane
The geometric center position in face is coordinate origin O, using the front of car body (5) straight ahead traveling as Y-axis positive direction, with water
It is flat perpendicular to Y-axis and to be directed toward the direction of right panel by Left-Hand Panel be X-axis positive direction, with vertically perpendicular to Y-axis and by automobile
The coordinate system O- based on vehicle body is established in the direction that car body (5) top plate is directed toward on the chassis of car body (5) for Z axis positive direction
XYZ；
Step 3: obtaining moving obstacle real time position, process is as follows：
Step 301 determines effective radar detedtor：Using multiple radar detedtors (1) while detect moving obstacle (6) respectively
Distance apart from multiple radar detedtors (1), and by multiple range data real-time Transmissions to Vehicle Controller (2), vehicle-mounted control
Device (2) sorts from small to large to multiple range data, and the radar corresponding to first three range data after setting sequence is visited
It is effective radar detedtor to survey device (1), and three effective radar detedtors are three continuous radar detedtors (1), this three
Continuous radar detedtor (1) is followed successively by first effective radar detedtor A, second effective radar detedtor B and the effective thunder of third
Up to detector C, the position of moving obstacle (6) is set as point P；
Step 302, according to formulaCalculate second effective effective radars of radar detedtor B and first
The reference azimuth of detector AWherein, XAFor the X-axis coordinate of first effective radar detedtor A, YAFor first effective radar
The Y-axis coordinate of detector A, XBFor the X-axis coordinate of second effective radar detedtor B, YBY-axis for second effective radar detedtor B
Coordinate,
According to formulaCalculate the effective radar detedtor B's of the effective radar detedtor C and second of third
Reference azimuthWherein, XCFor the X-axis coordinate of the effective radar detedtor C of third, YCY for the effective radar detedtor C of third
Axial coordinate,
Step 303, the azimuth angle alpha for determining second effective effective radar detedtor A of radar detedtor B and firstBA：
Work as XA-XB>0 and YA-YB>When 0, azimuth
Work as XA-XB<0 and YA-YB>When 0, azimuth
Work as XA-XB<0 and YA-YB<When 0, azimuth
Work as XA-XB>0 and YA-YB<When 0, azimuth
Determine the azimuth angle alpha of the effective radar detedtor B of the effective radar detedtor C and second of thirdCB：
Work as XB-XC>0 and YB-YC>When 0, azimuth
Work as XB-XC<0 and YB-YC>When 0, azimuth
Work as XB-XC<0 and YB-YC<When 0, azimuth
Work as XB-XC>0 and YB-YC<When 0, azimuth
Step 304, according to formulaCalculate the orientation of first effective radar detedtor A and point P
Angle αAPWith the initial orientation angle α ' of second effective radar detedtor B and point PBP, wherein, ∠ BAP are LBAWith LAPAngle and∠ ABP are LBAWith LBPAngle andLBA
For the line segment of second effective effective radar detedtor A of radar detedtor B to first, LAPFor first effective radar detedtor A to point P
Line segment, LBPFor the line segment of second effective radar detedtor B to point P, αABIt is effective for first effective radar detedtor A to second
The azimuth of radar detedtor B；
According to formulaCalculate the update azimuth angle alpha of second effective radar detedtor B and point P
'B'PWith the azimuth angle alpha of the effective radar detedtor C of third and point PCP, wherein, ∠ CBP are LCBWith LBPAngle and∠ BCP are LCBWith LCPAngle andLCB
For the line segment of the effective radar detedtor B of the effective radar detedtor C to second of third, LCPFor the effective radar detedtor C of third to point P
Line segment, αBCFor second effective radar detedtor B to the azimuth of the effective radar detedtor C of third；
According to formulaCalculate the azimuth angle alpha of second effective radar detedtor B and point PBP；
Step 305, according to formulaCalculate LAPDeflection βAP；
According to formulaCalculate LBPDeflection βBP；
According to formulaCalculate LCPDeflection βCP；
Step 306, according to formulaFirst effective radar detedtor A and point P are calculated in the side of X axis
To cosine γAPx, first effective radar detedtor A and point P Y-axis direction cosines γAPy, first effective radar detedtor A
With point P Z axis to direction cosines γAPz, wherein, V is the vertical of the car body (5) that the vertical angle measuring instrument of electronics (7) measures
Angle；
According to formulaCalculate the direction cosines of second effective radar detedtor B and point P in X axis
γBPx, second effective radar detedtor B and point P Y-axis direction cosines γBPy, second effective radar detedtor B and point P exist
Z axis to direction cosines γBPz；
According to formulaCalculate the direction cosines of the effective radar detedtor C of third and point P in X axis
γCPx, third effective radar detedtor C and point P Y-axis direction cosines γCPy, third effective radar detedtor C and point P exist
Z axis to direction cosines γCPz；
Step 307, according to formulaCalculate the initial first coordinate (X of point PAP,YAP,ZAP), wherein, Δ
XAPFor LAPIn the component and Δ X of X-axisAP=LAP*γAPx, Δ YAPFor LAPIn the component and Δ Y of Y-axisAP=LAP*γAPy, Δ ZAPFor
LAPIn the component and Δ Z of Z axisAP=LAP*γAPz；
According to formulaCalculate the initial second coordinate (X of point PBP,YBP,ZBP), wherein, Δ XBPFor LBPIn X
The component and Δ X of axisBP=LBP*γBPx, Δ YBPFor LBPIn the component and Δ Y of Y-axisBP=LBP*γBPy, Δ ZBPFor LBPIn Z axis
Component and Δ ZBP=LBP*γBPz；
According to formulaCalculate the initial third coordinate (X of point PCP,YCP,ZCP), wherein, Δ XCPFor LCPIn X
The component and Δ X of axisCP=LCP*γCPx, Δ YCPFor LCPIn the component and Δ Y of Y-axisCP=LCP*γCPy, Δ ZCPFor LCPIn Z axis
Component and Δ ZCP=LCP*γCPz；
Step 308, according to formulaCalculate the update coordinate (X of point PP,YP,ZP)；
Step 309, n times utilize first effective radar detedtor A, second effective radar detedtor B and the effective radar detection of third
Device C active probes moving obstacle (6) distance, and n times circulation step 304 obtains the point P's of n times different moments to step 308
Coordinate is updated, obtains the real time position of moving obstacle (6), the update coordinate of the point P of n times different moments forms observation data set
Close Q={ (x1,y1,z1),(x2,y2,z2),...,(xi,yi,zi),...,(xn,yn,zn), wherein, n is just whole not less than 4
Number, i is numbered for effective radar detedtor detection times and 1≤i≤n, (xi,yi,zi) calculated for Vehicle Controller (2) ith
The update coordinate of point P；
Step 4: fitting and predicted motion barrier track, process are as follows：
Step 401 obtains effectively observation data acquisition system Q'：Using Vehicle Controller (2) to observing data acquisition system Q={ (x1,y1,
z1),(x2,y2,z2),...,(xi,yi,zi),...,(xn,yn,zn) dimension-reduction treatment is done, the X-axis of the update coordinate of selected point P is sat
Scale value and Y-axis coordinate value form effectively observation data acquisition system Q', effectively observe data acquisition system Q'={ (x1,y1),(x2,
y2),...,(xi,yi),...,(xn,yn)}；
Step 402 determines Ball curve and builds quadratic polynomial：Vehicle Controller (2) sets Ball curve, the basic function
Race includes δ0(x)=1, δ1(x)=x and δ2(x)=x2, Vehicle Controller (2) structure quadratic polynomial s (x)=a0δ0(x)+a1δ1
(x)+a2δ2(x), wherein, a0For δ in quadratic polynomial s (x)0(x) coefficient, a1For δ in quadratic polynomial s (x)1(x) be
Number, a2For δ in quadratic polynomial s (x)2(x) coefficient；
Step 403, according to formulaIt calculates secondary multinomial
The coefficient matrix of formula s (x)And bring quadratic polynomial s (x)=a into0+a1x+a2x2, it is bent that Vehicle Controller (2) obtains fitting
Line realizes the prediction of moving obstacle (6) track, wherein, δ0For by δ0(x)=1 the n-dimensional vector and δ of composition0=[1,1 ...,
1,…,1]T, δ1For by δ1(x) n-dimensional vector and δ of=x compositions1=[x1,x2,…,xi,…,xn]T, δ2For by δ2(x)=x2Group
Into n-dimensional vector and
Step 5: moving obstacle track is shown and early warning：Utilize the movement of display screen (3) real-time display moving obstacle (6)
Track sets safe distance threshold value of the moving obstacle (6) apart from car body (5) by Vehicle Controller (2), when movement hinders
When hindering the distance of object (6) and car body (5) no more than safe distance threshold value, Vehicle Controller (2) control alarm (4) is pre-
It is alert.
2. a kind of automobile anti-collision method of multipoint mode active probe described in accordance with the claim 1, it is characterised in that：Step 304
It is middle according to formulaCalculate first effective effective radar detedtor B's of radar detedtor A and second
Reference azimuthDetermine the azimuth angle alpha of first effective effective radar detedtor B of radar detedtor A and secondAB：
Work as XB-XA>0 and YB-YA>When 0, azimuth
Work as XB-XA<0 and YB-YA>When 0, azimuth
Work as XB-XA<0 and YB-YA<When 0, azimuth
Work as XB-XA>0 and YB-YA<When 0, azimuth
According to formula in step 304Calculate second effective radar detedtor B and the effective radar of third
The reference azimuth of detector CDetermine the azimuth of second effective radar detedtor B and the effective radar detedtor C of third
αBC：
Work as XC-XB>0 and YC-YB>When 0, azimuth
Work as XC-XB<0 and YC-YB>When 0, azimuth
Work as XC-XB<0 and YC-YB<When 0, azimuth
Work as XC-XB>0 and YC-YB<When 0, azimuth
3. a kind of automobile anti-collision method of multipoint mode active probe described in accordance with the claim 1, it is characterised in that：The alarm
Device (4) includes voice prompting device and LED flashing lights, the voice prompting device and the LED flashing lights with Vehicle Controller (2)
Output terminal connect.
4. a kind of automobile anti-collision method of multipoint mode active probe described in accordance with the claim 1, it is characterised in that：The safety
Distance threshold is 0.5m~1m.
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