CN109367529A - Millimetre-wave radar combines mounting structure and virtual channel building and obstacle judgment method - Google Patents
Millimetre-wave radar combines mounting structure and virtual channel building and obstacle judgment method Download PDFInfo
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- CN109367529A CN109367529A CN201811449068.2A CN201811449068A CN109367529A CN 109367529 A CN109367529 A CN 109367529A CN 201811449068 A CN201811449068 A CN 201811449068A CN 109367529 A CN109367529 A CN 109367529A
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims abstract description 14
- 238000009434 installation Methods 0.000 claims description 15
- 230000004888 barrier function Effects 0.000 claims description 14
- 238000013519 translation Methods 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 6
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/022—Collision avoidance systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/93185—Controlling the brakes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a kind of millimetre-wave radar combination mounting structure and virtual channel building and obstacle judgment methods, the structure includes the millimetre-wave radar for being mounted on automotive front end, and main control module, display alarm module and brake actuating mechanism, the millimetre-wave radar includes first, second millimetre-wave radar, first millimetre-wave radar is horizontally mounted, second millimetre-wave radar right angle setting, and two millimetre-wave radars are connect with main control module signal input part respectively, main control module signal output end is separately connected display alarm module and brake actuating mechanism, the main control module receives the detectable signal of two millimetre-wave radars, and judge that whether there are obstacles in front according to obstacle judgment method, it provides and whether alerts and whether brake actuating mechanism executes the instruction of brake simultaneously.The present invention realizes the obstacle identification of a three-dimensional solid space, eliminates the erroneous judgement because being likely to occur without the level identification in vertical direction, greatly improves the function of product.
Description
Technical field
The invention belongs to automobile intelligents to drive field, and in particular to a kind of millimetre-wave radar be horizontally mounted with it is vertically arranged
Composite structure and its virtual channel building and obstacle judgment method.
Background technique
Millimetre-wave radar is a kind of by emitting the electromagnetic wave of certain frequency, and receives it and meet the electromagnetism returned after target
Wave, according to the time difference between transmitting-receiving, phase difference, come the sensor of the signals such as the distance, angle, speed that measure target.Millimeter
The electromagnetic wave of wave radar emission is both horizontally and vertically having certain detection angle, forms the search coverage of a taper.
But due to the prior art, cost etc., the millimetre-wave radar that the current whole world can be commercial is all only at its nominal horizontal direction
Upper angled measurement function, that is, the distance of target can be measured and relative to millimetre-wave radar horizontal center line in level
The angle in direction, this direction are known as azimuth direction；And in vertical direction all without angle measuring function, the only angle of wave beam
Degree, if target within the fan-shaped range of wave beam, all it may be found that and measure distance, but be not capable of measuring target relative to water
Square to vertical angle.
When millimetre-wave radar is used for FCWS (forward direction anti-collision warning), AEBS (automatic emergency brake) system of automobile, lead to
All it is often the design requirement according to product, millimetre-wave radar is horizontally arranged at front part of vehicle (such as Fig. 1 and 2), by level side
The identification of upward distance, angle can make a two-dimensional virtual lane (such as Fig. 3) in the horizontal direction, can know and take
Criterion of the barrier as FCWS, AEBS system within virtual lane.
Since current millimetre-wave radar also has certain scanning angle in vertical direction, and without in vertical direction
Angle recognition function, the minority detected can be thus suspended above road, and have no effect on, hinder vehicle pass-through
Object (such as: overbridge, height-limiting bar, guideboard) to barrier judges (such as Fig. 4) before being taken as, and is easy triggering false alarm very
To being accidentally to brake, easily initiation traffic accident.Technically, although can by and other sensors combination (such as: view
Frequently, laser radar etc.), compound judgement is to reduce some erroneous judgements.But video product is big by weather influences, (such as: misty rain, night)
Usage scenario is limited；And laser radar cost is too high, is not easy to popularize, and also influences (such as: misty rain) vulnerable to weather.
The present invention uses two millimetre-wave radars, and by specifically installing and combination, existing technology is carried out
Combined application makes original product function obtain effective extension, preferably solution drawbacks described above.
Summary of the invention
It is horizontally mounted the purpose of the present invention is to provide a kind of millimetre-wave radar and is incited somebody to action with vertically arranged composite structure, realization
Two two-dimensional plane space identifications, have been combined into the identification of a three-dimensional solid space, have effectively compensated for current technology
With the vacancy of product.
To achieve the above object, the technical scheme adopted by the invention is as follows: a kind of millimetre-wave radar combines mounting structure, including
It is mounted on millimetre-wave radar and main control module, the display alarm module and brake actuating mechanism of automotive front end, the millimeter wave
Radar includes the first millimetre-wave radar and the second millimetre-wave radar, and first millimetre-wave radar is horizontally mounted, the second millimeter wave
Radar right angle setting, and two millimetre-wave radars are connect with main control module signal input part respectively, main control module signal output end
It is separately connected display alarm module and brake actuating mechanism, the main control module receives the detectable signal of two millimetre-wave radars,
And judge that whether there are obstacles in front, while controlling whether display alarm module alerts and stop by the result of judgement
Whether vehicle executing agency executes brake.
Further, the signal output end of the driving signal input of the brake actuating mechanism and main control module connects,
The main control module judges that front executes brake there are control signal driving brake executing agency when barrier, is issued.
Further, first millimetre-wave radar differs 90 degree with the installation direction of the second millimetre-wave radar, and described
One millimetre-wave radar and the second millimetre-wave radar are mounted on two sides or side or wherein one of automotive front end midline position
Or two millimetre-wave radars are mounted on automotive front end midline position.
Further, the processor of the main control module uses STM32F407 processor, is equipped with 2 CAN interfaces,
By CAN interface, treated, target information gives processor to millimetre-wave radar.
For the mounting structure in above scheme, the present invention provides the judgment methods of following two barrier:
Judgment method 1: with obstacle judgment method, the installation site with each millimetre-wave radar is a kind of building of virtual channel
Pole constructs polar coordinates；Then the safe distance for needing to keep according to vehicle width and vehicle two sides, sets virtual through tunnel
Width be W；According to the safe distance that height of car and vehicle up direction need to keep, if the height of virtual through tunnel is H；It is right
It is set as D1 in the target range that the first millimetre-wave radar detects, angle is set as θ 1；Second millimetre-wave radar is detected
To the same target range be set as D2, angle is set as θ 2；Second millimetre-wave radar mounting height is set as H1；
In the horizontal direction, if millimetre-wave radar is mounted on automotive front end center line, if meeting: | D1*SIN θ 1 |≤
W/2, then target is in the horizontal direction in virtual secure through tunnel；If conditions are not met, then virtual secure is logical in the horizontal direction for target
Outside row tunnel；It when being not mounted within automotive front end center line such as millimetre-wave radar, is then positive with being biased to the right side, a left side is negative, and deviates and is
W1 does translation compensation according to deviation value W1, if meeting: | D1*SIN θ 1-W1 |≤W/2, target virtual secure in the horizontal direction
In through tunnel；If conditions are not met, then target is in the horizontal direction outside virtual secure through tunnel；D1*COS θ 1 is target range vehicle
Distance DH1 in the horizontal direction；
In vertical direction, if met: if θ 2>=0 and D2*SIN 2<H-H1 of θ, virtual peace of the target in vertical direction
In all-pass row tunnel height；If θ 2 < 0 and 2≤- H2 of D2*SIN θ, it is contemplated that be ground clutter problem and hypsography the problem of,
It is not processed on software, H2 is setting value, and H2≤H1, H2 are defined as distance the second millimetre-wave radar azimuth direction level and put down
The height in face considers hypsography, provides in conjunction with test data that in an implementation of this patent, H2 may be configured as 0.4 meter.
D2*COS θ 2 is the distance DH2 of target range vehicle in the horizontal direction；
Main control module software is judged according to above-mentioned criterion, it is first determined the nearest target of the first millimeter wave, if
Meet it to be in the horizontal direction in virtual secure through tunnel, is then further sought in the target of the second millimetre-wave radar
The target is looked for, if finding the target, then it is judged whether within the virtual secure through tunnel of vertical direction, if only
One millimetre-wave radar determines target in virtual secure through tunnel, and another radar determines that it is not current in virtual secure
In tunnel, then main control module thinks all is clear ahead, normal vehicle operation, if target is in the void of two radars simultaneously
In quasi- safe passing tunnel, then main control module determines that there is barrier in front, and makes early warning.
Further, when the main control module determines that there is barrier in front, main control module according to the alarm set in advance,
Braking curve issues car alarming, braking instruction, stops in emergency.If the DH1 and second that the first millimetre-wave radar obtains
When the absolute value of the difference for the DH2 that millimetre-wave radar obtains is less than setting value, then it is assumed that two millimetre-wave radars detected is same
One target, the target are effective criterion of system.Being normally set up value range is 0.6-3 meters, preferential 1 meter of selection.
Judgment method 2: a kind of building of virtual channel is with obstacle judgment method, one detected for the first millimetre-wave radar
A target range is set as D1, and angle is set as θ 1；D2, angle are set as the same target range that the second millimetre-wave radar detects
Degree is set as θ 2；Second millimetre-wave radar mounting height is set as H1；
It in the horizontal direction, is X using any millimetre-wave radar position as the horizontal line of origin, radar detection direction
Axis and X-axis are Y-axis, any one target point that the first millimetre-wave radar detects, with (Xn in the straight line of origin square crossing
=COS θ 1*D1, Yn=SIN θ 1*D1) it is indicated in rectangular co-ordinate；Then according to the position of radar installation, the width of vehicle
The safe distance for needing to keep with vehicle two sides, takes two points of certain numerical value in Y-axis, a point is on the top of Y-axis origin
Y1；One point is Y2 in the lower part of Y-axis origin, cross the two points (X0, Y1, X0, Y2) make respectively two it is parallel with X-axis straight
Two straight lines are set as a two-dimensional virtual lane, virtual lane width are as follows: W, and W=Y1-Y2 by line (Y1, Y2)；
It in vertical direction, is X using any millimetre-wave radar position as the horizontal line of origin, radar detection direction
Axis and X-axis are Z axis, any one target point that the second millimetre-wave radar detects, with (Xn in the straight line of origin square crossing
=COS θ 2*D2, Zn=SIN θ 2*D2) it is indicated in rectangular co-ordinate；The height H1 that is then installed on vehicle according to radar,
The height and vehicle up direction of vehicle itself need the safe distance kept, two points of certain numerical value on Z axis are taken, in Z axis origin
One point on top is Z1, and a point of Z axis origin lower part is Z2, crosses the two points (X0, Z1；X0, Z2) make two and X
Straight line Z1, is set as the high H in two-dimensional virtual lane, and H=H1+Z1 by two parallel straight lines (Z1, Z2) of axis；Straight line Z2 is set
It is set to the bottom Z2=-H1 in two-dimensional virtual lane；The virtual high H in lane is equal to Z1-Z2；
By the virtual vehicle road width W for the two-dimensional level that first millimetre-wave radar system is made, and pass through second millimeter
The high H in the virtual lane for the second vertical that wave radar system is made, by virtual vehicle road width W and two data of the high H in virtual lane into
Row fusion, being formed a width is W, the three-dimensional virtual channel of a height of H；
If the target that the first millimetre-wave radar detects meets Y2 < Yn < Y1 in Y-axis；The detection of second millimetre-wave radar
The target arrived meets Z2 < Zn < Z1 on Z axis；I.e. two millimetre-wave radars confirm there is target in virtual channel simultaneously, and two
Millimetre-wave radar measures the absolute value of difference of the target in X-axis within the legitimate skew of setting, assert that this is same at this time
Target, should become the criterion of the system disorders object of FCWS, AEBS, and system can be according to car speed, vehicle-to-target distance, vehicle
With the speed difference of target, come implement alarm and braking；
If two millimetre-wave radars only have a judgement target in virtual channel, that is, meet Y2 < Yn < Y1 or Z2 < Zn
< Z1, and another determines that it not in virtual channel, that is, is unsatisfactory for Y2 < Yn < Y1 or Z2 < Zn < Z1；Or two millimeter wave thunders
Up to all judgement targets in virtual channel, that is, meet Y2 < Yn < Y1 and Z2 < Zn < Z1, and the target that two millimetre-wave radars measure
The absolute value of difference in X-axis is greater than default, then does not regard as barrier, not as system alarm, braking foundation；When
When target Zn≤Z2 that second millimetre-wave radar detects, it is believed that be the interference noise on ground, system does not do criterion.
Further, when two millimetre-wave radars are mounted on same horizontal linear, with the second millimetre-wave radar
The origin that origin is whole system is installed, the first millimetre-wave radar passes through the horizontal distance measured with the second millimetre-wave radar,
Translation compensation is carried out on trunnion axis, with the origin of uniform level installation and the rectangular coordinate system of right angle setting radar；When two millis
When metre wave radar is mounted in same vertical line, using the installation origin of the first millimetre-wave radar as the origin of whole system,
Second millimetre-wave radar carries out translation compensation, on the vertical axis by measuring the vertical range with the first millimetre-wave radar with system
The origin of one right angle setting and the rectangular coordinate system for being horizontally mounted radar.
The beneficial effects of the present invention are: this structure is existing by two, the millimeter wave thunder of only unidirectional angle-resolved function
It reaches, by being horizontally mounted routinely, another, which is rotated by 90 °, carries out vertically arranged combined application, realizes two
Two-dimensional plane space identification, has been combined into the identification of a three-dimensional solid space, effectively compensates for current technology and produces
The vacancy of product eliminates the erroneous judgement because being likely to occur without the level identification in vertical direction, greatly improves product
Function provides possibility for the round-the-clock use of FCWS, AEBS system.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Fig. 1 is the working principle of the invention block diagram.
Fig. 2 is the mounting structure of millimetre-wave radar of the invention.
Fig. 3 is horizontal direction polar coordinates building schematic diagram of the invention.
Fig. 4 is vertical direction polar coordinates building schematic diagram of the invention.
Fig. 5 is horizontal direction rectangular co-ordinate building schematic diagram of the invention.
Fig. 6 is vertical direction rectangular co-ordinate building schematic diagram of the invention.
Fig. 7 is the rectangular co-ordinate schematic diagram that two millimetre-wave radars are mounted on same horizontal linear.
Fig. 8 is the rectangular co-ordinate schematic diagram that two millimetre-wave radars are mounted in same vertical line.
Fig. 9 combines the three-dimensional tridimensional virtual tunnel schematic diagram to be formed.
In the figure, it is marked as the first millimetre-wave radar of 1-, the second millimetre-wave radar of 2-.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment one.
As illustrated in fig. 1 and 2, a kind of millimetre-wave radar combines mounting structure, the millimeter wave thunder including being mounted on automotive front end
Reach and main control module, display alarm module and brake actuating mechanism, the millimetre-wave radar include the first millimetre-wave radar and
Second millimetre-wave radar, first millimetre-wave radar are horizontally mounted, the second millimetre-wave radar right angle setting, and two millimeter waves
Radar is connect with main control module signal input part respectively, and main control module signal output end is separately connected display alarm module and brake
Executing agency, the main control module receive the detectable signal of two millimetre-wave radars, and judge that whether there are obstacles in front,
Control whether display alarm module alerts and whether brake actuating mechanism executes brake by the result of judgement simultaneously.
In the present embodiment, the composite structure further includes brake actuating mechanism, the driving signal of the brake actuating mechanism
The connection of the signal output end of input terminal and main control module, the main control module judge that front there are when barrier, issues control
Signal driving brake executing agency executes brake.Brake actuating mechanism is using in existing AEBS (automatic emergency brake) system
Included executing agency.
In the present embodiment, first millimetre-wave radar differs 90 degree with the installation direction of the second millimetre-wave radar, and first
Millimetre-wave radar is mounted on the midline position in automotive front end straight-line travelling direction.Two millimetre-wave radars can be independent millimeter
Wave radar is also possible to two millimetre-wave radars and is integrated in one.Two millimetre-wave radar mounting distances are generally less than vehicle
Width.Two exceedingly high 77G millimetre-wave radars of Fuji can be used in millimetre-wave radar.
In the present embodiment, the processor of the main control module uses STM32F407 processor, connects equipped with 2 CAN bus
Mouthful, by CAN interface, treated, target information gives processor to millimetre-wave radar.
Processor can complete target letter with display, sound-light alarm and braking motor driving interface under software control
Breath display, sound-light alarm drive braking motor, and the braking system of vehicle is driven to complete braking function.Software is compiled using C language
It writes, mainly completes system initialization, System self-test, radar information setting and initialization, the setting and initialization of braking information are accused
The setting and initialization of alert information.It is 20 that maximum target number, which is arranged, in software, according to the contained determination method 2 of patent, is completed to thunder
The information processing reached, while being shown, if target in virtual channel, according to patent institute support method carry out alarm or
Braking processing.
Embodiment two.
First millimetre-wave radar and the second millimetre-wave radar are installed according to the mounting means in embodiment one.
Two millimetre-wave radars give signal processor the distance and angle of the echo signal detected respectively, simple to rise
The data reduction that we provide millimetre-wave radar is seen for the distance D and angle, θ of target, wherein distance D is a nonnegative value, singly
Position can for rice or centimetre；Angle, θ has sign symbol, and unit is degree, to determine target in the position that millimetre-wave radar is installed (0)
Left and right directions or up and down direction referred to vehicle forward direction, it is specified that left is positive, the right side for convenience of following description
Side is negative, and top is positive, and lower section is negative.
Assuming that vehicle driving is D1 for the target range that the first millimetre-wave radar detects on level road,
Angle is θ 1；It is D2 for the same target range that the second millimetre-wave radar detects, angle is θ 2.According to vehicle width and
Vehicle two sides need the safe distance kept, if the width of virtual through tunnel is W；According to height of car and vehicle up direction needs
The safe distance of holding, if the height of virtual through tunnel is H；First millimetre-wave radar installation site and vehicle centre-line it is straight
Linear distance is W1, and the second millimetre-wave radar mounting height is H1.
Wherein, the width of virtual through tunnel is can add safe clearance by the width of the vehicle, if vehicle width
It is 2 meters, safe clearance is 1 meter, then the width is 3 meters.The height of virtual through tunnel by the height of the vehicle can be added
Safe clearance, if height of car is 1.6 meters, safe clearance takes 0.5 meter, then this is highly 2.1 meters.
Determination method 1:
As shown in Figures 3 and 4, polar coordinates are constructed by pole of millimetre-wave radar installation site；Assuming that the first millimetre-wave radar
It is mounted on the midline position of vehicle normal straight driving direction, can carry out judging that target is by software according to following formula
No is barrier, is to need to brake or can pass through.In the horizontal direction if met: | D1*SIN θ 1 |≤W/2, (such as millimeter
Wave radar is not mounted within vehicle center line position, be biased to it is right just a left side is negative, deviate as W1, can be translated by deviation value W1
Compensation, translation compensation is mathematically fairly simple, according to | D1*SIN θ 1-W1 | and≤W/2 is as judgment basis) then target is in level
In the virtual secure through tunnel of direction.If conditions are not met, then target is in the horizontal direction outside virtual secure through tunnel. D1*COSθ
1 is the distance DH1 of target range vehicle in the horizontal direction.
In vertical direction, if met: if θ 2>=0 and D2*SIN 2<H-H1 of θ, virtual peace of the target in vertical direction
In all-pass row tunnel height；If θ 2 < 0 and 2≤- H2 of D2*SIN θ, it is contemplated that be ground clutter problem and hypsography the problem of,
It is not processed on software, H2 is setting value, and H2≤H1, H2 are defined as distance the second millimetre-wave radar azimuth direction level and put down
The height in face considers hypsography, provides in conjunction with test data that in an implementation of this patent, H2 is 0.4 meter. D2*COSθ2
For the distance DH2 of target range vehicle in the horizontal direction.
Main control module is on software, if determining DH1, the DH2 obtained with millimetre-wave radar 2 that millimetre-wave radar 1 obtains
Absolute value of the difference be less than setting value, then it is assumed that two millimetre-wave radars detected is the same target, which is system
Effective criterion.Setting value is that software can be set, and in an implementation of this patent, which is 1.0 meters.
If main control module software is judged according to above-mentioned criterion, it is first determined the nearest target of the first millimeter wave,
If meeting it to be in the horizontal direction in virtual secure through tunnel, further in the target of the second millimetre-wave radar
It is interior, find the target, if find the target, then judge its whether within the virtual secure through tunnel of vertical direction, such as
Fruit meet, processor software according to set in advance alarm, braking curve, issue car alarming, braking instruction, carry out promptly
Parking；If an only millimetre-wave radar determines target in virtual secure through tunnel, and another radar determines it not
In virtual secure through tunnel, then main control module thinks all is clear ahead, normal vehicle operation.
Main control module software carries out the processing of time close-target according to the method described above, and so on, until completing software set
All targets processing.
Determination method 2:
As it can be seen in figures 5 and 6, distance D1, angle, θ 1 that system can also provide the first millimetre-wave radar being horizontally mounted
Such polar coordinates information is converted into a two-dimensional plane rectangular coordinates information.It that is: is original with millimetre-wave radar position
Point, radar detection direction horizontal line be X-axis and X-axis in the straight line of origin square crossing be Y-axis.It can be by millimeter wave thunder
Up to any one target point detected, indicated in rectangular co-ordinate with (Xn=COS θ 1*D1, Yn=SIN θ 1*D1).According to
The safe distance that the position of radar installation, the width of vehicle and vehicle two sides need to keep, takes two points of certain numerical value in Y-axis
(point is Y1 on the top of Y-axis origin；One point is Y2 in the lower part of Y-axis origin.), cross the two points (X0, Y1, X0,
Y2 two straight lines (Y1, Y2) parallel with X-axis) are made respectively, and two straight lines are set as a two-dimensional virtual lane.It is virtual
Lane width are as follows: W；(W=Y1-Y2).
According to the above method, as the distance D2 that vertically arranged second millimetre-wave radar can also be provided, angle, θ 2
Polar coordinates information is converted into another two-dimensional plane rectangular coordinates information.That is: using millimetre-wave radar position as origin,
It in the straight line of origin square crossing is Z axis that the horizontal line in radar detection direction, which is X-axis and X-axis,.It can be being visited by millimetre-wave radar
Any one target point measured is indicated in rectangular co-ordinate with (Xn=COS θ 2*D2, Zn=SIN θ 2*D2).According to radar
The safe distance that height (H1), the height of vehicle itself and the vehicle up direction installed on vehicle need to keep takes certain on Z axis
Two points of numerical value, a point on Z axis origin top are Z1, and a point of Z axis origin lower part is Z2.Cross the two points
(X0,Z1；X0, Z2) two two parallel with X-axis straight lines (Z1, Z2) are made, straight line Z1 is set as two-dimensional virtual lane
High H (H=H1+Z1)；Straight line Z2 is set as to the bottom (Z2=-H1) in two-dimensional virtual lane.The virtual high H in lane is also equal to Z1-
Z2。
By the virtual vehicle road width (W) for the two-dimensional level that first millimetre-wave radar system is made, and pass through second milli
The height (H) in the virtual lane for the second vertical that metre wave radar system is made, by virtual vehicle road width (W) and virtual lane height (H) two
A data are merged, and being formed a width is W, the three-dimensional virtual channel of a height of H.
In practical applications, if the target that millimetre-wave radar 1 detects, Y2 < Yn < Y1 is met in Y-axis；Millimeter wave thunder
The target detected up to 2, meets Z2 < Zn < Z1 on Z axis.So two millimetre-wave radars can confirm virtual channel simultaneously
Inside there is target, and two millimetre-wave radars measure the absolute value of difference of the target in X-axis within the legitimate skew of setting,
(deviation can software setting, implement at one of this patent, which is set as 1.0 meters.) assert that this, for same target, is answered
The criterion of system disorders object as FCWS, AEBS, system can be according to car speeds, vehicle-to-target distance, vehicle-to-target
Speed difference, come implement alarm and braking.
If two millimetre-wave radars only have a judgement target in virtual channel (meet Y2 < Yn < Y1 or Z2 < Zn <
Z1), another determines that it (is unsatisfactory for Y2 < Yn < Y1 or Z2 < Zn < Z1) not in virtual channel；Or two millimetre-wave radars
All determine that target (meets Y2 < Yn < Y1 and Z2 < Zn < Z1) in virtual channel, but the target that two millimetre-wave radars measure is in X
The absolute value of difference on axis is greater than default, all it cannot be assumed that being barrier, cannot function as system alarm, braking foundation.
As target Zn≤Z2 that second millimetre-wave radar detects, it is believed that be the interference noise on ground, system does not do criterion.
As shown in FIG. 7 and 8, the first millimetre-wave radar and the second millimetre-wave radar it is as placed in the middle as possible, it is close, in same water
It is installed on horizontal line or same vertical line.
It, can be with the origin (02) of the second millimetre-wave radar when two millimetre-wave radars are mounted on same horizontal linear
For the origin (0A) of whole system, the first millimetre-wave radar can by measuring the horizontal distance with the second millimetre-wave radar,
Translation compensation (DA) is carried out on trunnion axis, with the origin (0A) of uniform level installation and the rectangular coordinate system of right angle setting radar；
Such as Fig. 7.
It, can be with the origin (01) of the first millimetre-wave radar when two millimetre-wave radars are mounted in same vertical line
For the origin (0B) of whole system, the second millimetre-wave radar can by measuring the vertical range with the first millimetre-wave radar,
Translation compensation is carried out on vertical axis, with the origin (0B) of unified right angle setting and the rectangular coordinate system for being horizontally mounted radar；Such as figure
8。
Main control module software according to the method described above, is from the near to the remote handled the target detected one by one, until completing
Judgement to all targets.
In summary structures and methods, the present invention pass through the combination of two millimetre-wave radars, pass through specific mounting means
With the processing mode of radar target signal, complete to the distance of target distance in the horizontal direction, angle coordinate and vertical direction,
Angle recognition.Be made of these information one can differentiate vehicle whether the current tunnel of virtual secure of the 3 D stereo of safe passing
Road makes the function of existing product obtain very big promotion.
The basic principles, main features and advantages of the invention have been shown and described above.Those skilled in the art
It should be appreciated that the protection scope that the above embodiments do not limit the invention in any form, all to be obtained using modes such as equivalent replacements
The technical solution obtained, falls in protection scope of the present invention.
Part that the present invention does not relate to is the same as those in the prior art or can be realized by using the prior art.
Claims (10)
1. a kind of millimetre-wave radar combines mounting structure, including be mounted on automotive front end millimetre-wave radar and main control module,
Display alarm module and brake actuating mechanism, it is characterised in that: the millimetre-wave radar includes the first millimetre-wave radar and second
Millimetre-wave radar, first millimetre-wave radar are horizontally mounted, the second millimetre-wave radar right angle setting, and two millimetre-wave radars
It is connect respectively with main control module signal input part, main control module signal output end is separately connected display alarm module and brake executes
Mechanism, the main control module receive the detectable signal of two millimetre-wave radars, and judge that whether there are obstacles in front, simultaneously
Control whether display alarm module alerts and whether brake actuating mechanism executes brake by the result of judgement.
2. a kind of millimetre-wave radar according to claim 1 combines mounting structure, it is characterised in that: the brake execution machine
The driving signal input of structure and the signal output end of main control module connect, and the main control module judges that there are barriers in front
When, it issues control signal driving brake executing agency and executes brake.
3. a kind of millimetre-wave radar according to claim 1 combines mounting structure, it is characterised in that: first millimeter wave
Radar differs 90 degree with the installation direction of the second millimetre-wave radar, and first millimetre-wave radar and the second millimetre-wave radar are installed
In the two sides of automotive front end midline position or side or wherein one or two millimetre-wave radars are mounted in automotive front end
On line position.
4. a kind of millimetre-wave radar according to claim 1 combines mounting structure, it is characterised in that: the main control module
Processor uses STM32F407 processor, is equipped with 2 CAN interfaces, millimetre-wave radar is by CAN interface processing
Target information afterwards gives processor.
5. a kind of virtual channel building and obstacle judgment method, which is characterized in that using described in any one of claims 1 to 4
Mounting structure the first millimetre-wave radar and the second millimetre-wave radar are installed, and using the installation site of each millimetre-wave radar as pole
Point building polar coordinates；Then the safe distance for needing to keep according to vehicle width and vehicle two sides, sets virtual through tunnel
Width is W；According to the safe distance that height of car and vehicle up direction need to keep, if the height of virtual through tunnel is H；For
The target range that first millimetre-wave radar detects is set as D1, and angle is set as θ 1；Second millimetre-wave radar is detected
The same target range be set as D2, angle is set as θ 2；Second millimetre-wave radar mounting height is set as H1；
In the horizontal direction, if millimetre-wave radar is mounted on automotive front end center line, if meeting: | D1*SIN θ 1 |≤W/2,
Then target is in the horizontal direction in virtual secure through tunnel；If conditions are not met, the then target current tunnel of virtual secure in the horizontal direction
Outside road；It when being not mounted within automotive front end center line such as millimetre-wave radar, is then positive with being biased to the right side, a left side is negative, and deviates as W1, presses
Translation compensation is done according to deviation value W1, if meeting: | D1*SIN θ 1-W1 |≤W/2, the target current tunnel of virtual secure in the horizontal direction
In road；If conditions are not met, then target is in the horizontal direction outside virtual secure through tunnel；D1*COS θ 1 is target range vehicle in water
Square upward distance DH1；
In vertical direction, if met: if θ 2>=0 and D2*SIN 2<H-H1 of θ, target is logical in the virtual secure of vertical direction
In row tunnel height；If θ 2 < 0 and 2≤- H2 of D2*SIN θ, it is contemplated that be ground clutter problem and hypsography the problem of, do not do
Processing, wherein H2 is setting value, and H2≤H1, H2 are defined as the height of distance the second millimetre-wave radar azimuth direction horizontal plane
Degree；D2*COS θ 2 is the distance DH2 of target range vehicle in the horizontal direction；
Main control module software is judged according to above-mentioned criterion, it is first determined the nearest target of the first millimeter wave, if met
It is in the horizontal direction in virtual secure through tunnel, then further in the target of the second millimetre-wave radar, finding should
Target, if find the target, then judge its whether within the virtual secure through tunnel of vertical direction, if only one
Millimetre-wave radar determines target in virtual secure through tunnel, and another radar determines it not in virtual secure through tunnel
Interior, then main control module thinks all is clear ahead, normal vehicle operation, if target is in the virtual peace of two radars simultaneously
In full through tunnel, then main control module determines that there is barrier in front, and makes early warning.
6. a kind of virtual channel building according to claim 5 and obstacle judgment method, which is characterized in that the master control mould
Block determines front when having barrier, main control module according to set in advance alarm, braking curve, issue car alarming, brake
Instruction, stops in emergency.
7. a kind of virtual channel building according to claim 5 and obstacle judgment method, which is characterized in that if the first milli
The absolute value of the difference for the DH2 that the DH1 and the second millimetre-wave radar that metre wave radar obtains are obtained is less than setting value, then it is assumed that two millis
What metre wave radar detected is the same target, which is effective criterion of system.
8. a kind of virtual channel building according to claim 7 and obstacle judgment method, which is characterized in that the setting value
It is 0.6-3 meters.
9. a kind of virtual channel building and obstacle judgment method, which is characterized in that using described in any one of claims 1 to 4
Mounting structure the first millimetre-wave radar and the second millimetre-wave radar, the mesh detected for the first millimetre-wave radar are installed
Subject distance is set as D1, and angle is set as θ 1；D2 is set as the same target range that the second millimetre-wave radar detects, angle is set
For θ 2；Second millimetre-wave radar mounting height is set as H1；
It in the horizontal direction, is X-axis and X using any millimetre-wave radar position as the horizontal line of origin, radar detection direction
Axis is Y-axis, any one target point that the first millimetre-wave radar detects, with (Xn=COS θ in the straight line of origin square crossing
1*D1, Yn=SIN θ 1*D1) it is indicated in rectangular co-ordinate；Then according to the position of radar installation, the width and vehicle of vehicle
Two sides need the safe distance kept, take two points of certain numerical value in Y-axis, and a point is Y1 on the top of Y-axis origin；One
Point is Y2 in the lower part of Y-axis origin, cross the two points (X0, Y1, X0, Y2) make respectively two straight lines parallel with X-axis (Y1,
Y2), two straight lines are set as a two-dimensional virtual lane, virtual lane width are as follows: W, and W=Y1-Y2；
It in vertical direction, is X-axis and X using any millimetre-wave radar position as the horizontal line of origin, radar detection direction
Axis is Z axis, any one target point that the second millimetre-wave radar detects, with (Xn=COS θ in the straight line of origin square crossing
2*D2, Zn=SIN θ 2*D2) it is indicated in rectangular co-ordinate；Then the height H1 that is installed on vehicle according to radar, vehicle sheet
The height and vehicle up direction of body need the safe distance kept, two points of certain numerical value on Z axis are taken, on Z axis origin top
One point is Z1, and a point of Z axis origin lower part is Z2, crosses the two points (X0, Z1；X0, Z2) make two it is parallel with X-axis
Straight line Z1 is set as the high H in two-dimensional virtual lane, and H=H1+Z1 by two straight lines (Z1, Z2)；Straight line Z2 is set as two dimension
The bottom Z2=-H1 in virtual lane；The virtual high H in lane is equal to Z1-Z2；
By the virtual vehicle road width W for the two-dimensional level that first millimetre-wave radar system is made, and pass through second millimeter wave thunder
The high H in the virtual lane for the second vertical made up to system melts virtual vehicle road width W and virtual lane two data of high H
It closes, being formed a width is W, the three-dimensional virtual channel of a height of H；
If the target that the first millimetre-wave radar detects meets Y2 < Yn < Y1 in Y-axis；What the second millimetre-wave radar detected
Target meets Z2 < Zn < Z1 on Z axis；I.e. two millimetre-wave radars confirm there is target in virtual channel simultaneously, and two millimeters
Wave radar measures the absolute value of difference of the target in X-axis within the legitimate skew of setting, assert that this is same target at this time,
The criterion of the system disorders object of FCWS, AEBS should be become, system can be according to car speed, vehicle-to-target distance, vehicle and mesh
Target speed difference, to implement alarm and braking；
If two millimetre-wave radars only have a judgement target in virtual channel, that is, meet Y2 < Yn < Y1 or Z2 < Zn < Z1,
And another determines that it not in virtual channel, that is, is unsatisfactory for Y2 < Yn < Y1 or Z2 < Zn < Z1；Or two millimetre-wave radars are all
Determine target meets Y2 < Yn < Y1 and Z2 < Zn < Z1 in virtual channel, and the target that two millimetre-wave radars measure is in X-axis
On difference absolute value be greater than default, then do not regard as barrier, not as system alarm, braking foundation；When second
When target Zn≤Z2 that portion's millimetre-wave radar detects, it is believed that be the interference noise on ground, system does not do criterion.
10. a kind of virtual channel building according to claim 9 and obstacle judgment method, which is characterized in that when two millis
When metre wave radar is mounted on same horizontal linear, using the installation origin of the second millimetre-wave radar as the origin of whole system,
First millimetre-wave radar carries out translation compensation, on the horizontal axis by measuring the horizontal distance with the second millimetre-wave radar with system
One is horizontally mounted the origin with the rectangular coordinate system of right angle setting radar；When to be mounted on same vertically straight for two millimetre-wave radars
When on line, using the installation origin of the first millimetre-wave radar as the origin of whole system, the second millimetre-wave radar is by measuring and the
The vertical range of one millimetre-wave radar carries out translation compensation on the vertical axis, with unified right angle setting and is horizontally mounted radar
The origin of rectangular coordinate system.
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