CN108798305A - Vehicle safety method for early warning based on radar - Google Patents
Vehicle safety method for early warning based on radar Download PDFInfo
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- CN108798305A CN108798305A CN201810626035.4A CN201810626035A CN108798305A CN 108798305 A CN108798305 A CN 108798305A CN 201810626035 A CN201810626035 A CN 201810626035A CN 108798305 A CN108798305 A CN 108798305A
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- door lock
- vehicle
- vehicle body
- image
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Classifications
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05B—LOCKS; ACCESSORIES THEREFOR; HANDCUFFS
- E05B77/00—Vehicle locks characterised by special functions or purposes
- E05B77/54—Automatic securing or unlocking of bolts triggered by certain vehicle parameters, e.g. exceeding a speed threshold
-
- 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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- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Mechanical Engineering (AREA)
- Lock And Its Accessories (AREA)
Abstract
The invention discloses a kind of vehicle safety method for early warning based on radar, including when occupant presses door lock switch and prepares opening car door, detect door lock open signal, and the door lock open signal is sent to vehicle central processor；The present invention controls the switch of lock according to vehicle door status and radar velocity measurement; it can also be alarmed by automatically controlling sound; improve the reliability of preventing car door collision; protect outside vehicle mobile vehicle and the safety of pedestrian; the present invention can efficiently extract the outer image level information of vehicle; each tint hierarchy details of image can be kept again; improve the classification accuracy of test set image; improve small image recognition performance; and door lock control of the present invention can inhibit or weaken the influence of environmental disturbances; system structure is simple, improves the reliability of system.
Description
Technical field
The invention belongs to automobile technical fields.More particularly to a kind of vehicle safety method for early warning based on radar.
Background technology
The accident that automobile collides when opening the door with other objects often causes major accident consequence.Its main cause
It is that occupant fails caused by opening the door in the case where ensureing safety, the vehicle having at present is equipped with attention gatter in vehicle body side, when
After car door opening, lamp can be lighted, for reminding vehicle and people outside vehicle, this method that can only only remind the people outside vehicle, but can not
Occupant is played a warning role.
Invention content
The purpose of the invention is to overcome a kind of above-mentioned insufficient vehicle safety method for early warning based on radar of offer.
A kind of vehicle safety method for early warning based on radar, includes the following steps：
001., when occupant presses door lock switch preparation opening car door, detects door lock open signal, and
The door lock open signal is sent to vehicle central processor；
002. in real time detects the object of certain distance around vehicle body, and result of detection is sent in vehicle in real time
Central processor；It tests the speed in real time to the object of certain distance around vehicle body, and result of detection is sent to vehicle central in real time
Processor；
003. receives the speed of door lock open signal and vehicle body surrounding objects, when door lock open signal shows vehicle
Around door unlatching and vehicle body door lock stop signal is sent there are when the object or person of certain movement speed in certain area；
004. receives door lock stop signal, and controls door lock locking.
Further, there is mobile speed around car door opening and vehicle body in 1.5 meters of regions when door lock open signal is shown
When degree is more than the object or person of 10Km/H, sends door lock stop signal and give door lock control module, send out the same of door lock stop signal
When also send out voice prompt to occupant.
Further, in the step 003, also monitor in real time vehicle body around environment, and by around vehicle body environment clap at
Photo is sent to vehicle central processor in real time, receives the environmental monitoring photo around vehicle body and carries out assisting sentencing to occupant
It is disconnected.
Further, to the environmental monitoring around vehicle body is carried out image procossing, following steps are specifically included：
021：The vehicle body ambient enviroment photo for inputting vehicle central processor is carried out in image input convolutional neural networks
First convolutional layer, activation primitive ReLU；
022：The output result of first convolutional layer is inputted into second convolutional layer, activation primitive ReLU, then is carried out
Dropout is operated, and output result is inputted pond layer；
023：Output result in the step 2 is inputted into first full articulamentum, and carries out dropout operations, then
It is normalized.
Further, it is normalized in step 023 rear further comprising the steps of：
0231, the gray value of all pixels in treated image is set as zero；
0232, calculate the average gray of Image neighborhood；
0233, calculate the stability bandwidth of pixel；
0234, calculate the significance degree of pixel；
0235, calculate the marginal information of image；
0236, edge enhancing is carried out to image, different object lines can be more clearly shown through the enhanced image in edge
The trace of shape image, in order to the identification of different species types and its delineation of distribution.
Further, it is optimized to receiving door lock stop signal in the step 004, specifically includes following steps：
041, start door lock control module；
042, the pps pulse per second signal for parsing vehicle central processor is sent to fpga chip；
043, the locking time parameter for obtaining vehicle central processor, is embedded into FPGA cores by the locking time parameter of acquisition
Inside piece；
044, pulse per second (PPS) threshold value is preset, judges whether pulse per second (PPS) is more than default pulse per second (PPS) threshold value, is to turn in next step, otherwise
Enter step 046；
045, the clock frequency of voltage controlled oscillator is obtained, fpga chip uses the clock frequency that voltage controlled oscillator provides, into
Enter step 047；
If 046, pulse per second (PPS) is less than default pulse per second (PPS) threshold value, fpga chip optimizes, and is turned by feedback regulation modulus
Chip DAC is changed to adjust the voltage-controlled end of voltage controlled oscillator, fpga chip writes the register of analog-digital converter, mould by spi bus
The analog voltage of number converter output changes with the variation of register value, and the output voltage values of analog-digital converter are sent to pressure
The voltage-controlled end of oscillator is controlled, voltage tunes up, and the output frequency of voltage controlled oscillator increases, and voltage reduces, the output of voltage controlled oscillator
Frequency also reduces therewith；
047, voltage controlled oscillator gradually reduces difference synchronous with pulse per second (PPS), until being finally reached lock-out state.
Advantageous effect of the present invention is as follows：The present invention controls the switch of lock according to vehicle door status and radar velocity measurement, can be with
It is alarmed by automatically controlling sound, improves the reliability of preventing car door collision, protect outside vehicle mobile vehicle and row
The safety of people, the present invention can efficiently extract the outer image level information of vehicle and keep each tint hierarchy details of image,
The classification accuracy for improving test set image improves small image recognition performance, and door lock of the present invention control can inhibit
Or weakening the influence of environmental disturbances, system structure is simple, improves the reliability of system.
Description of the drawings
Fig. 1 is the system schematic of the present invention.
Fig. 2 is that door lock controls optimization system schematic diagram.
Specific implementation mode
Below in conjunction with specific embodiment, the present invention is further illustrated：
A kind of vehicle safety method for early warning based on radar, includes the following steps：
001., when occupant presses door lock switch preparation opening car door, detects door lock open signal, and
The door lock open signal is sent to vehicle central processor；
002. in real time detects the object of certain distance around vehicle body, and result of detection is sent in vehicle in real time
Central processor；It tests the speed in real time to the object of certain distance around vehicle body, and result of detection is sent to vehicle central in real time
Processor；
003. receives the speed of door lock open signal and vehicle body surrounding objects, when door lock open signal shows vehicle
Around door unlatching and vehicle body door lock stop signal is sent there are when the object or person of certain movement speed in certain area；
004. receives door lock stop signal, and controls door lock locking.
When door lock open signal shows that there are movement speeds to be more than in 1.5 meters of regions around car door opening and vehicle body
When the object or person of 10Km/H, send door lock stop signal and give door lock control module, while sending out door lock stop signal also to
Occupant sends out voice prompt.
In the step 003, the environment around vehicle body is also monitored in real time, and the environment around vehicle body is taken photos in real time
It is sent to vehicle central processor, the environmental monitoring photo around vehicle body is received and carries out auxiliary judgment to occupant.
To the environmental monitoring around vehicle body is carried out image procossing, following steps are specifically included：
021：The vehicle body ambient enviroment photo for inputting vehicle central processor is carried out in image input convolutional neural networks
First convolutional layer, activation primitive ReLU；
022：The output result of first convolutional layer is inputted into second convolutional layer, activation primitive ReLU, then is carried out
Dropout is operated, and output result is inputted pond layer；
023：Output result in the step 2 is inputted into first full articulamentum, and carries out dropout operations, then
It is normalized.
It is normalized in step 023 rear further comprising the steps of：
0231, the gray value of all pixels in treated image is set as zero；
0232, calculate the average gray of Image neighborhood；
0233, calculate the stability bandwidth of pixel；
0234, calculate the significance degree of pixel；
0235, calculate the marginal information of image；
0236, edge enhancing is carried out to image, different object lines can be more clearly shown through the enhanced image in edge
The trace of shape image, in order to the identification of different species types and its delineation of distribution.
Image XmThe average gray of (i, j) 9 × 9 neighborhoodIt calculates as follows：
Xm(i, j) be in m-th of image coordinate be (i, j) pixel ash
Angle value, k, l are the coordinate of neighbor pixel.
Stability bandwidth Vm(i, j) calculates as follows：
Pixel significance degree Δ Xm(i, j) calculates as follows：
The marginal information E (i, j) of image calculates as follows：
Wherein α is normalized parameter；E(i,j)∈[0,1]；
It is optimized to receiving door lock stop signal in the step 004, specifically includes following steps：
041, start door lock control module；
042, the pps pulse per second signal for parsing vehicle central processor is sent to fpga chip；
043, the locking time parameter for obtaining vehicle central processor, is embedded into FPGA cores by the locking time parameter of acquisition
Inside piece；
044, pulse per second (PPS) threshold value is preset, judges whether pulse per second (PPS) is more than default pulse per second (PPS) threshold value, is to turn in next step, otherwise
Enter step 046；
045, the clock frequency of voltage controlled oscillator is obtained, fpga chip uses the clock frequency that voltage controlled oscillator provides, into
Enter step 047；
If 046, pulse per second (PPS) is less than default pulse per second (PPS) threshold value, fpga chip optimizes, and is turned by feedback regulation modulus
Chip DAC is changed to adjust the voltage-controlled end of voltage controlled oscillator, fpga chip writes the register of analog-digital converter, mould by spi bus
The analog voltage of number converter output changes with the variation of register value, and the output voltage values of analog-digital converter are sent to pressure
The voltage-controlled end of oscillator is controlled, voltage tunes up, and the output frequency of voltage controlled oscillator increases, and voltage reduces, the output of voltage controlled oscillator
Frequency also reduces therewith；
047, voltage controlled oscillator gradually reduces difference synchronous with pulse per second (PPS), until being finally reached lock-out state.
A kind of vehicle safety early warning system based on radar, including with lower part：Door lock detection module, for working as vehicle
When door lock is opened, door lock open signal is detected, and the door lock open signal is sent to vehicle central processing
Device；
Range radar module, for being detected in real time to the object of certain distance around vehicle body, and result of detection is real
When be sent to vehicle central processor；
Velocity radar module, for testing the speed in real time to the object of certain distance around vehicle body, and result of detection is real
When be sent to vehicle central processor；
Vehicle central processor, the speed for receiving door lock open signal and vehicle body surrounding objects, when car door door
Around lock open signal display car door opening and vehicle body door is sent there are when the object or person of certain movement speed in certain area
Lock locking signal gives door lock control module；
Door lock control module, the door lock stop signal for receiving the transmission of vehicle central processor, and control door lock
Locking.
Further include：
It drives a vehicle monitoring record module, for being monitored in real time to the environment around vehicle body, and by the environment around vehicle body
Monitoring is sent to vehicle central processor in real time；
Reminding module, the door lock stop signal for receiving the transmission of vehicle central processor, and send out language to occupant
Sound prompts.
When door lock open signal shows that there are movement speeds to be more than in 1.5 meters of regions around car door opening and vehicle body
When the object or person of 10Km/H, sends door lock stop signal and give door lock control module.
The vehicle central processor further includes：Image processing module, the vehicle body for vehicle central processor will to be inputted
Ambient enviroment photo carries out first convolutional layer in image input convolutional neural networks, activation primitive ReLU；By first
The output result of convolutional layer inputs second convolutional layer, activation primitive ReLU, then carries out dropout operations, will export result
Input pond layer；Output result in the step 2 is inputted into first full articulamentum, and carries out dropout operations, then into
Row normalized.
Described image processing module further includes with lower module：
Gray value setup module, for the gray value of all pixels in treated image to be set as zero；
Average gray computing module, the average gray for calculating Image neighborhood；
Stability bandwidth computing module, the stability bandwidth for calculating pixel；
Significance degree computing module, the significance degree for calculating pixel；
Marginal information computing module, the marginal information for calculating image；
Edge enhances module, for carrying out edge enhancing to image, can more clearly be shown through the enhanced image in edge
The trace for going out the linear image of different objects, in order to the identification of different species types and its delineation of distribution.
The door lock control module further includes with lower module：
Parsing module, the pps pulse per second signal for being used for out vehicle central processor are sent to fpga chip；
Time parameter acquisition module, the locking time parameter for obtaining vehicle central processor, when by the locking of acquisition
Between parameter be embedded into inside fpga chip；
Threshold preset module judges whether pulse per second (PPS) is more than default pulse per second (PPS) threshold value for presetting pulse per second (PPS) threshold value；
Fpga chip, the clock frequency for obtaining voltage controlled oscillator use if pulse per second (PPS) is more than default pulse per second (PPS) threshold value
The clock frequency that voltage controlled oscillator provides；If pulse per second (PPS) is less than default pulse per second (PPS) threshold value, fpga chip optimizes, by anti-
Feedback adjusts analog-to-digital conversion module to adjust the voltage-controlled end of voltage controlled oscillator, and fpga chip writes analog-to-digital conversion module by spi bus
Register, analog-to-digital conversion module output analog voltage change with the variation of register value；
Analog-to-digital conversion module, the voltage-controlled end for adjusting voltage controlled oscillator, output voltage values are sent to the pressure of voltage controlled oscillator
End is controlled, voltage tunes up, and the output frequency of voltage controlled oscillator increases, and voltage reduces, and the output frequency of voltage controlled oscillator also subtracts therewith
It is small；
Voltage controlled oscillator, for gradually reducing difference synchronous with pulse per second (PPS), until being finally reached lock-out state.
Claims (6)
1. a kind of vehicle safety method for early warning based on radar, it is characterised in that include the following steps：
001., when occupant presses door lock switch and prepares opening car door, detects door lock open signal, and by institute
It states door lock open signal and is sent to vehicle central processor；
002. in real time detects the object of certain distance around vehicle body, and result of detection is sent at vehicle central in real time
Manage device；It tests the speed in real time to the object of certain distance around vehicle body, and result of detection is sent to vehicle central processing in real time
Device；
003. receives the speed of door lock open signal and vehicle body surrounding objects, when door lock open signal shows that car door is opened
Open and around vehicle body in certain area there are when the object or person of certain movement speed, send door lock stop signal；
004. receives door lock stop signal, and controls door lock locking.
2. the vehicle safety method for early warning according to claim 1 based on radar, it is characterised in that when door lock is opened
It is sent there are when the object or person that movement speed is more than 10Km/H in 1.5 meters of regions around signal display car door opening and vehicle body
Door lock stop signal gives door lock control module, while also sending out voice prompt to occupant.
3. the vehicle safety method for early warning according to claim 1 or claim 2 based on radar, it is characterised in that in the step 003,
It also monitors the environment around vehicle body in real time, and the environment around vehicle body is taken photos and is sent to vehicle central processor in real time,
It receives the environmental monitoring photo around vehicle body and carries out auxiliary judgment to occupant.
4. the vehicle safety method for early warning based on radar according to claim 3, it is characterised in that by the ring around vehicle body
Border monitoring carries out image procossing, specifically includes following steps：
021：The vehicle body ambient enviroment photo for inputting vehicle central processor is carried out to the in image input convolutional neural networks
One convolutional layer, activation primitive ReLU；
022：The output result of first convolutional layer is inputted into second convolutional layer, activation primitive ReLU, then carries out dropout
Output result is inputted pond layer by operation；
023：Output result in the step 2 is inputted into first full articulamentum, and carries out dropout operations, is then carried out
Normalized.
5. the vehicle safety method for early warning based on radar according to claim 4, which is characterized in that returned in step 023
It is further comprising the steps of after one change processing：
0231, the gray value of all pixels in treated image is set as zero；
0232, calculate the average gray of Image neighborhood；
0233, calculate the stability bandwidth of pixel；
0234, calculate the significance degree of pixel；
0235, calculate the marginal information of image；
0236, edge enhancing is carried out to image, the linear shadow of different objects can be more clearly shown through the enhanced image in edge
The trace of picture, in order to the identification of different species types and its delineation of distribution.
6. the vehicle safety method for early warning based on radar according to claim 3, it is characterised in that being connect in the step 004
It receives door lock stop signal to optimize, specifically includes following steps：
041, start door lock control module；
042, the pps pulse per second signal for parsing vehicle central processor is sent to fpga chip；
043, the locking time parameter for obtaining vehicle central processor, the locking time parameter of acquisition is embedded into fpga chip
Portion；
044, pulse per second (PPS) threshold value is preset, judges whether pulse per second (PPS) is more than default pulse per second (PPS) threshold value, is to turn in next step, otherwise to enter
Step 046；
045, the clock frequency of voltage controlled oscillator is obtained, fpga chip uses the clock frequency that voltage controlled oscillator provides, into step
Rapid 047；
If 046, pulse per second (PPS) is less than default pulse per second (PPS) threshold value, fpga chip optimizes, and passes through feedback regulation analog-to-digital conversion core
Piece DAC adjusts the voltage-controlled end of voltage controlled oscillator, and fpga chip writes the register of analog-digital converter by spi bus, modulus turns
The analog voltage of parallel operation output changes with the variation of register value, and the output voltage values of analog-digital converter are sent to voltage-controlled shake
The voltage-controlled end of device is swung, voltage tunes up, and the output frequency of voltage controlled oscillator increases, and voltage reduces, the output frequency of voltage controlled oscillator
Also reduce therewith；
047, voltage controlled oscillator gradually reduces difference synchronous with pulse per second (PPS), until being finally reached lock-out state.
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| CN201810626035.4A CN108798305A (en) | 2018-06-18 | 2018-06-18 | Vehicle safety method for early warning based on radar |
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| CN201810626035.4A CN108798305A (en) | 2018-06-18 | 2018-06-18 | Vehicle safety method for early warning based on radar |
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