CN108189754B - 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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- CN108189754B CN108189754B CN201711410008.5A CN201711410008A CN108189754B CN 108189754 B CN108189754 B CN 108189754B CN 201711410008 A CN201711410008 A CN 201711410008A CN 108189754 B CN108189754 B CN 108189754B
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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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Abstract
The invention discloses a kind of automobile anti-collision method of multipoint mode active probe, comprising steps of one, establish the anti-collision system for automobile of multipoint mode active probe；Two, the coordinate system based on vehicle body is constructed；Three, moving obstacle real time position is obtained；Four, fitting and predicted motion barrier track；Five, moving obstacle track is shown and early warning.The present invention using the real-time active of radar detedtor that three are no less than on four side panel of automobile detection moving obstacle, static state, the identification of dynamic object, detecting and tracking are carried out to moving obstacle, azimuth using moving obstacle at a distance from automobile body and positioned at automobile body obtains the coordinate of moving obstacle, 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 that 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 technique
For current automotive technology development, driving sight blind area or unavoidable, after room mirror and left and right
Visor limited viewing angle can only also play booster action even if loading onto reverse image and reversing radar, especially for new hand, drive
Experience deficiency is sailed, can only be by means of rearview mirror, reverse image and radar, the case where being unable to judge accurately blind area, exists greatly
Security risk, existing traffic become increasingly complex, and fortuitous event happens occasionally, and single-point type radar detection mode is unable to satisfy
Motor vehicle environment any direction bring security risk；Therefore, it is reasonable nowadays to lack a kind of 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 to moving obstacle, to allow driver to examine in advance
Feel the danger that may occur.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that providing 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, take mean value by repeatedly calculating
Mode improves the coordinate precision of moving obstacle, and moving obstacle track is obtained by the way of curve matching, 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 that: a kind of automobile of multipoint mode active probe is anti-
Hit method, which is characterized in that method includes the following steps:
Step 1: establishing 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 active probe dyskinesia object location respectively in plate, Left-Hand Panel and right panel
Device, while establishing the automobile collision preventing subsystem that the data for detecting to each radar detedtor are handled, the automobile
The anti-collision system for automobile of anticollision subsystem and radar detedtor composition multipoint mode active probe；The automobile collision preventing subsystem includes
Vehicle Controller and it is mounted on the vertical angular measurement of electronics installed on the chassis of car body for detecting car body vertical angle
Instrument, and the display screen to connect with the output end of Vehicle Controller and the alarm for prompting driver 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 building based on vehicle body: 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 to be directed toward the direction of right panel for X-axis positive direction, vertically perpendicular to Y-axis and by automobile perpendicular to Y-axis and by Left-Hand Panel
The direction that car body top plate is directed toward on the chassis of car body is that Z axis positive direction establishes the coordinate system O-XYZ based on vehicle body；
Step 3: obtaining moving obstacle real time position, process is as follows:
Step 301 determines effective radar detedtor: using multiple radar detedtors and meanwhile detect 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 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, YAEffectively for first
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 detection 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-YBWhen > 0, azimuth
Work as XA-XB< 0 and YA-YBWhen > 0, azimuth
Work as XA-XB< 0 and YA-YBWhen < 0, azimuth
Work as XA-XB> 0 and YA-YBWhen < 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-YCWhen > 0, azimuth
Work as XB-XC< 0 and YB-YCWhen > 0, azimuth
Work as XB-XC< 0 and YB-YCWhen < 0, azimuth
Work as XB-XC> 0 and YB-YCWhen < 0, azimuth
Step 304, according to formulaCalculate first effective radar detedtor A's and point P
Azimuth angle alphaAPWith the initial azimuth α ' of the second effective radar detedtor B and point PBP, wherein ∠ BAP is LBAWith LAPAngle and∠ ABP is 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 the second effective radar detedtor B and point P
Angle α 'B'PWith the azimuth angle alpha of third effective radar detedtor C and point PCP, wherein ∠ CBP is LCBWith LBPAngle and∠ BCP is 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 the 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 the car body of the vertical angle measuring instrument measurement of electronics；
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 constitutes 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 are effective radar detedtor detection times number and 1≤i≤n, (xi,yi,zi) it is the point P that Vehicle Controller i-th 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 observation 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 constitute 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 constructs 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 building 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 formed0=[1,1, L,
1,L,1]T, δ1For by δ1(x)=x composition n-dimensional vector and δ1=[x1,x2,L,xi,L,xn]T, δ2For by δ2(x)=x2Composition
N-dimensional vector and
Step 5: moving obstacle track is shown and early warning: utilizing the movement rail of display screen real-time display moving obstacle
Mark sets safety distance threshold of the moving obstacle apart from car body by Vehicle Controller, when moving obstacle and automobile
When the distance of car body is not more than safety distance threshold, Vehicle Controller controls alarm early warning.
The automobile anti-collision method of above-mentioned a kind of 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-YAWhen > 0, azimuth
Work as XB-XA< 0 and YB-YAWhen > 0, azimuth
Work as XB-XA< 0 and YB-YAWhen < 0, azimuth
Work as XB-XA> 0 and YB-YAWhen < 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 Yu the effective radar detedtor C of third
Angle αBC:
Work as XC-XB> 0 and YC-YBWhen > 0, azimuth
Work as XC-XB< 0 and YC-YBWhen > 0, azimuth
Work as XC-XB< 0 and YC-YBWhen < 0, azimuth
Work as XC-XB> 0 and YC-YBWhen < 0, azimuth
The automobile anti-collision method of above-mentioned a kind of multipoint mode active probe, it is characterised in that: the alarm includes voice
Prompting device and LED flashing light, the voice prompting device and the LED flashing light connect with the output end of Vehicle Controller.
The automobile anti-collision method of above-mentioned a kind of multipoint mode active probe, it is characterised in that: the safety distance threshold is
0.5m~1m.
Compared with the prior art, the present invention has the following advantages:
1, 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
Object bring security risk reduces the case where vehicle blind zone can not accurately identify moving obstacle, convenient for promoting the use of.
2, 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 and moving obstacle form triangular relationship, obtain the coordinate of moving obstacle, are 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.
3, the method for the present invention step is simple, is carried out in the way of multi-point fitting curve to the update coordinate of moving obstacle
Curve matching obtains the track of moving obstacle and the track of predicted motion barrier, realize the detecting of moving obstacle with
Tracking, to allow driver 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 for being no less than three 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, take mean value by repeatedly calculating
Mode improve the coordinate precision of moving obstacle, moving obstacle track is obtained by the way of curve matching, thus 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 will be described in further detail.
Detailed description of the invention
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 method flow block diagram of the invention.
Description of symbols:
1-radar detedtor；2-Vehicle Controllers；3-display screens；
4-alarms；5-car bodies；6-moving obstacles；
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, comprising the following steps:
Step 1: establishing 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 establishing the automobile collision preventing subsystem that the data for detecting to each radar detedtor 1 are handled, it is described
Automobile collision preventing subsystem and radar detedtor 1 form the anti-collision system for automobile of multipoint mode active probe；The automobile collision preventing subsystem
System includes that Vehicle Controller 2 is erected with the electronics installed on the chassis of car body 5 for detecting 5 vertical angle of car body is mounted on
Rectangular meter 7, and the display screen 3 that connects with the output end of Vehicle Controller 2 and for prompting driver to avoid movement barrier
Hinder the alarm 4 of object 6, the vertical angle measuring instrument 7 of electronics and radar detedtor 1 connect with the input terminal of Vehicle Controller 2；
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 in the front panel of car body 5, rear side panel, Left-Hand Panel and right panel 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
Upper moving obstacle bring security risk reduces the case where vehicle blind zone can not accurately identify moving obstacle, realizes multiple spot
The mode of formula active probe is handled using the data that Vehicle Controller 2 detects radar detedtor 1, can using display screen 3
The positional 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 far 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, the detection accuracy of radar detedtor 1 is improved, simplifies calculating process.
Step 2: coordinate system of the building based on vehicle body: 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 to be directed toward the direction of right panel for X-axis positive direction, vertically perpendicular to Y-axis and by automobile perpendicular to Y-axis and by Left-Hand Panel
The direction that 5 top plate of car body is directed toward on the chassis of car body 5 is that Z axis positive direction establishes the coordinate system O-XYZ based on vehicle body；
Step 3: obtaining moving obstacle real time position, process is as follows:
Step 301 determines effective radar detedtor: using multiple radar detedtors 1 while detecting the difference of moving obstacle 6
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 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, is located at same
6 data of moving obstacle that radar detedtor 1 in the car panel of side detects are close, select first three apart from the smallest data
First is that avoiding 6 coordinate of moving obstacle that once calculating obtains, there are errors, second is that in order to simplify meter in order to improve anti-interference
It calculates, avoids a large amount of data from causing calculated load big to Vehicle Controller 2, cause data operation speed slow, meet data acquisition
Precision, in actual use, three effective radar detedtors are three continuous radar detedtors 1, by three continuous radars spies
It surveys device 1 and is successively named as first effective radar detedtor A, second effective radar detedtor B and the effective radar detection of third respectively
Device C is successively named as the according to the position continuity installed in car body 5 to any three selected effectively radar detedtor
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, YAEffectively for first
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 detection 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-YBWhen > 0, azimuth
Work as XA-XB< 0 and YA-YBWhen > 0, azimuth
Work as XA-XB< 0 and YA-YBWhen < 0, azimuth
Work as XA-XB> 0 and YA-YBWhen < 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-YCWhen > 0, azimuth
Work as XB-XC< 0 and YB-YCWhen > 0, azimuth
Work as XB-XC< 0 and YB-YCWhen < 0, azimuth
Work as XB-XC> 0 and YB-YCWhen < 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's and point P
Azimuth angle alphaAPWith the initial azimuth α ' of the second effective radar detedtor B and point PBP, wherein ∠ BAP is LBAWith LAPAngle and∠ ABP is 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-YAWhen > 0, azimuth
Work as XB-XA< 0 and YB-YAWhen > 0, azimuth
Work as XB-XA< 0 and YB-YAWhen < 0, azimuth
Work as XB-XA> 0 and YB-YAWhen < 0, azimuth
According to formulaCalculate the update orientation of the second effective radar detedtor B and point P
Angle α 'B'PWith the azimuth angle alpha of third effective radar detedtor C and point PCP, wherein ∠ CBP is LCBWith LBPAngle and∠ BCP is 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 Yu the effective radar detedtor C of third
Angle αBC:
Work as XC-XB> 0 and YC-YBWhen > 0, azimuth
Work as XC-XB< 0 and YC-YBWhen > 0, azimuth
Work as XC-XB< 0 and YC-YBWhen < 0, azimuth
Work as XC-XB> 0 and YC-YBWhen < 0, azimuth
According to formulaCalculate the azimuth angle alpha of the 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 phase 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 constitutes a triangular structure, chooses second effective radar detedtor B, the effective thunder of third
Another triangular structure is constituted 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 constituted.
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 since the vertical angle measuring instrument 7 of electronics is mounted 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 the same vertical angle, measures the perpendicular of car body 5 using the vertical angle measuring instrument 7 of electronics
Right angle calculates point P changing coordinates, and when car body 5 is mobile, 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 synchronous 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 positional relationship of first effective radar detedtor A and point P,
The coordinate for being calculated primary point P again using the positional relationship of second effective radar detedtor B He point P, is visited using the effective radar of third
The positional 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 using the mean value of the initial coordinate of the P calculated three times as the update coordinate of point P, 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 constituted, 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 are effective radar detedtor detection times number and 1≤i≤n, (xi,yi,zi) it is the point that 2 i-th 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 probe 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': utilizing 2 couples of observation data acquisition system Q={ (x of Vehicle Controller1,
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 constitute 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
Therefore the trail change that barrier 6 and the contour Z axis value of radar detedtor 1 do not influence 6 forward-reverse of moving obstacle is only adopted
Track is fitted with the X axis coordinate value and Y axis coordinate value of the update coordinate of point P.
Step 402 determines Ball curve and constructs 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 building of Vehicle Controller 2 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 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 formed0=[1,1, L,
1,L,1]T, δ1For by δ1(x)=x composition n-dimensional vector and δ1=[x1,x2,L,xi,L,xn]T, δ2For by δ2(x)=x2Composition
N-dimensional vector 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 motion profile of moving obstacle 6, realizes the position of 6 subsequent time of moving obstacle
The precognition set, thus allow in advance driver perceive may generation danger, and according to point P update coordinate 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: utilizing the movement of 3 real-time display moving obstacle 6 of display screen
Track sets safety distance threshold of the moving obstacle 6 apart from car body 5 by Vehicle Controller 2, when moving obstacle 6
With when being not more than safety distance threshold at a distance from 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 light, the voice prompting device and described
LED flashing light connects with the output end of Vehicle Controller 2.
In the present embodiment, the safety distance threshold is 0.5m~1m.
It should be noted that using the motion profile of 3 real-time display moving obstacle 6 of display screen, when there is moving obstacle 6
When close to safety distance threshold, it is dangerous that alarm 4 can prompt driver by voice prompting device, while can pass through LED flashing light
Strong standby signal is issued, the people of moving obstacle 6 is prompted to pay attention to driving direction and travel speed, it is various to play safety
Protective action.
The above is only presently preferred embodiments of the present invention, is not intended to limit the invention in any way, it is all according to the present invention
Technical spirit any simple modification to the above embodiments, change and equivalent structural changes, still fall within skill of the present invention
In the protection scope of art scheme.
Claims (4)
1. a kind of automobile anti-collision method of multipoint mode active probe, which is characterized in that method includes the following steps:
Step 1: establishing the anti-collision system for automobile of multipoint mode active probe: the front panel of car body (5), rear side panel,
Installation no less than three radar detections for active probe moving obstacle (6) position respectively on Left-Hand Panel and right panel
Device (1), while establishing the automobile collision preventing subsystem that the data for detecting to each radar detedtor (1) are handled, institute
State the anti-collision system for automobile of automobile collision preventing subsystem and radar detedtor (1) composition multipoint mode active probe；The automobile collision preventing
Subsystem includes Vehicle Controller (2) and to be mounted on the chassis of car body (5) installation vertical for detecting car body (5)
The vertical angle measuring instrument of the electronics at angle (7), and the display screen (3) that connects with the output end of Vehicle Controller (2) and for mentioning
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 building 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 to be directed toward the direction of right panel for X-axis positive direction, vertically perpendicular to Y-axis and by automobile perpendicular to Y-axis and by Left-Hand Panel
The direction that car body (5) top plate is directed toward on the chassis of car body (5) is that Z axis positive direction establishes the coordinate system O- based on vehicle body
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 detecting 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 radar corresponding to first three range data after setting sequence is visited
Surveying device (1) is effective radar detedtor, and three effective radar detedtors are three continuous radar detedtors (1), and 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 radar 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, YBFor the Y-axis of 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, YCFor the Y of 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-YBWhen > 0, azimuth
Work as XA-XB< 0 and YA-YBWhen > 0, azimuth
Work as XA-XB< 0 and YA-YBWhen < 0, azimuth
Work as XA-XB> 0 and YA-YBWhen < 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-YCWhen > 0, azimuth
Work as XB-XC< 0 and YB-YCWhen > 0, azimuth
Work as XB-XC< 0 and YB-YCWhen < 0, azimuth
Work as XB-XC> 0 and YB-YCWhen < 0, azimuth
Step 304, according to formulaCalculate the orientation of the first effective radar detedtor A and point P
Angle αAPWith the initial azimuth α ' of the second effective radar detedtor B and point PBP, wherein ∠ BAP is LBAWith LAPAngle and∠ ABP is 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 the second effective radar detedtor B and point P "BP
With the azimuth angle alpha of third effective radar detedtor C and point PCP, wherein ∠ CBP is LCBWith LBPAngle and∠ BCP is 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 the 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) of the vertical angle measuring instrument of electronics (7) measurement
Angle；
According to formulaSecond effective radar detedtor B and point P are calculated in the direction cosines of 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 formulaThe effective radar detedtor C of third and point P are calculated in the direction cosines of 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 LBP?
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 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 probe 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, the real time position of moving obstacle (6) is obtained, the update coordinate of the point P of n times different moments constitutes 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 are effective radar detedtor detection times number and 1≤i≤n, (xi,yi,zi) it is what Vehicle Controller (2) i-th calculated
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 observation 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 constitute 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 constructs 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) building 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 formed0=[1,1, L, 1,
L,1]T, δ1For by δ1(x)=x composition n-dimensional vector and δ1=[x1,x2,L,xi,L,xn]T, δ2For by δ2(x)=x2The n of composition
Dimensional vector and
Step 5: moving obstacle track is shown and early warning: utilizing the movement of display screen (3) real-time display moving obstacle (6)
Track, the safety distance threshold by Vehicle Controller (2) setting moving obstacle (6) apart from car body (5), when movement hinders
When hindering object (6) at a distance from car body (5) no more than safety distance threshold, it is pre- that Vehicle Controller (2) controls alarm (4)
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-YAWhen > 0, azimuth
Work as XB-XA< 0 and YB-YAWhen > 0, azimuth
Work as XB-XA< 0 and YB-YAWhen < 0, azimuth
Work as XB-XA> 0 and YB-YAWhen < 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 Yu the effective radar detedtor C of third
αBC:
Work as XC-XB> 0 and YC-YBWhen > 0, azimuth
Work as XC-XB< 0 and YC-YBWhen > 0, azimuth
Work as XC-XB< 0 and YC-YBWhen < 0, azimuth
Work as XC-XB> 0 and YC-YBWhen < 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 light, the voice prompting device and the LED flashing light with Vehicle Controller (2)
Output end 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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| CN112462371A (en) * | 2020-11-02 | 2021-03-09 | 东风汽车集团有限公司 | Obstacle detection method based on virtual reversing radar and storage medium |
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