CN109367529B - Millimeter wave radar combined installation structure and virtual tunnel construction and obstacle judgment method - Google Patents
Millimeter wave radar combined installation structure and virtual tunnel construction and obstacle judgment method Download PDFInfo
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- CN109367529B CN109367529B CN201811449068.2A CN201811449068A CN109367529B CN 109367529 B CN109367529 B CN 109367529B CN 201811449068 A CN201811449068 A CN 201811449068A CN 109367529 B CN109367529 B CN 109367529B
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- 238000009434 installation Methods 0.000 title claims abstract description 40
- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000010276 construction Methods 0.000 title claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 238000001514 detection method Methods 0.000 claims abstract description 13
- 230000004888 barrier function Effects 0.000 claims abstract description 8
- 238000012876 topography Methods 0.000 claims description 5
- 238000013519 translation Methods 0.000 claims description 5
- FXNSVEQMUYPYJS-UHFFFAOYSA-N 4-(2-aminoethyl)benzenesulfonamide Chemical compound NCCC1=CC=C(S(N)(=O)=O)C=C1 FXNSVEQMUYPYJS-UHFFFAOYSA-N 0.000 claims 1
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- 230000008569 process Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 2
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- 230000000007 visual effect Effects 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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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
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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
- 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
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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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- 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
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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
- 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
Abstract
The invention discloses a millimeter wave radar combined installation structure and a virtual tunnel construction and obstacle judging method, wherein the structure comprises a millimeter wave radar installed at the front end of an automobile, a main control module, a display alarm module and a brake actuating mechanism, wherein the millimeter wave radar comprises a first millimeter wave radar and a second millimeter wave radar, the first millimeter wave radar is horizontally installed, the second millimeter wave radar is vertically installed, the two millimeter wave radars are respectively connected with a signal input end of the main control module, a signal output end of the main control module is respectively connected with the display alarm module and the brake actuating mechanism, the main control module receives detection signals of the two millimeter wave radars and judges whether an obstacle exists in front according to the obstacle judging method, and meanwhile, whether an alarm and an instruction whether the brake actuating mechanism executes brake braking are given. The invention realizes the barrier identification of a three-dimensional space, eliminates the possible erroneous judgment caused by no vertical height identification, and greatly improves the function of the product.
Description
Technical Field
The invention belongs to the field of intelligent driving of automobiles, and particularly relates to a combined structure for horizontal installation and vertical installation of a millimeter wave radar and a virtual tunnel construction and obstacle judgment method thereof.
Background
The millimeter wave radar is a sensor for measuring the distance, angle, speed and other signals of a target according to the time difference and phase difference between the receiving and transmitting of electromagnetic waves with a certain frequency and the receiving of the electromagnetic waves returned after meeting the target. Electromagnetic waves emitted by the millimeter wave radar have a certain detection angle in the horizontal direction and the vertical direction, so that a conical detection area is formed. However, due to the reasons of the prior art, cost and the like, currently, the millimeter wave radar which can be commercially used worldwide has an angle measurement function only in the nominal horizontal direction, namely the distance of a target and the angle of the target relative to the horizontal center line of the millimeter wave radar can be measured, and the direction is called azimuth direction; while there is no angle measurement function in the vertical direction, only the angle of the beam, as long as the target is within the fan-shaped range of the beam, the distance may be found and measured, but the vertical angle of the target relative to the horizontal direction cannot be measured.
When the millimeter wave radar is used for an FCWS (forward collision warning) and an AEBS (automatic emergency brake) system of an automobile, the millimeter wave radar is generally installed on the front part of the automobile according to the design requirement of a product (as shown in fig. 1 and 2), and a two-dimensional virtual lane (as shown in fig. 3) in the horizontal direction can be made through the identification of the distance and the angle in the horizontal direction, so that the obstacle in the virtual lane can be identified as a criterion of the FCWS and the AEBS system.
Because the conventional millimeter wave radar has a certain scanning angle in the vertical direction and has no angle identification function in the vertical direction, a small number of detected objects (such as a flying bridge, a height limiting rod, a guideboard and the like) which do not influence or obstruct the passing of vehicles can be judged as forward obstacles (as shown in fig. 4), false alarm and even false braking are easily triggered, and traffic accidents are easily caused. Technically, although some false positives can be reduced by compounding the judgment with other sensors (e.g., video, lidar, etc.). However, the video products are greatly affected by weather, such as rain and fog, night, etc., and the use field Jing Shouxian; the laser radar has high cost, is not easy to popularize, and is also easy to be influenced by weather (such as rain and fog).
The invention uses two millimeter wave radars, and combines and applies the prior art in a specific installation and combination mode, so that the functions of the original product are effectively expanded, and the defects are better solved.
Disclosure of Invention
The invention aims to provide a combined structure for horizontal installation and vertical installation of a millimeter wave radar, which realizes the identification of two-dimensional plane spaces, combines the identification of a three-dimensional space, and effectively compensates the blank of the prior art and products.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: the utility model provides a millimeter wave radar combination mounting structure, includes the millimeter wave radar of installing at the front end of car to and main control module, demonstration warning module and brake actuating mechanism, the millimeter wave radar includes first millimeter wave radar and second millimeter wave radar, first millimeter wave radar level installation, second millimeter wave radar installs perpendicularly, and two millimeter wave radars are connected with main control module signal input part respectively, and main control module signal output part is connected respectively and is shown warning module and brake actuating mechanism, main control module receives the detection signal of two millimeter wave radars to judge whether the place ahead has the barrier, control simultaneously and show whether report to the police the warning module and whether brake actuating mechanism carries out brake braking through the result of judgement.
Further, the driving signal input end of the brake actuating mechanism is connected with the signal output end of the main control module, and when the main control module judges that an obstacle exists in front, a control signal is sent to drive the brake actuating mechanism to execute brake braking.
Further, the installation directions of the first millimeter wave radar and the second millimeter wave radar are different by 90 degrees, and the first millimeter wave radar and the second millimeter wave radar are installed on two sides or one side or one part or two parts of the two sides or the two parts of the two sides of the front center line position of the automobile.
Furthermore, the processor of the main control module adopts an STM32F407 processor and is provided with 2 CAN bus interfaces, and the millimeter wave radar transmits the processed target information to the processor through the CAN bus interfaces.
Aiming at the installation structure in the scheme, the invention provides the following two barrier judgment methods:
judgment method 1: a virtual tunnel construction and obstacle judgment method uses the installation position of each millimeter wave radar as a pole to construct polar coordinates; then setting the width of the virtual passing tunnel as W according to the width of the vehicle and the safety distance to be kept on two sides of the vehicle; according to the height of the vehicle and the safety distance to be kept above the vehicle, setting the height of the virtual passage tunnel as H; setting a target distance detected by the first millimeter wave radar as D1 and setting an angle as theta 1; the distance of the same target detected by the second millimeter wave radar is set to be D2, and the angle is set to be theta 2; the second millimeter wave radar mounting height is set to H1;
in the horizontal direction, if the millimeter wave radar is installed at the front center line of the automobile, if: the I D1 is equal to or less than 1I W/2, and the target is in the virtual safe passing tunnel in the horizontal direction; if the virtual safe passage tunnel is not satisfied, the target is outside the virtual safe passage tunnel in the horizontal direction; if the millimeter wave radar is not installed on the central line of the front end of the automobile, the offset is positive to the right, the left is negative, the offset is W1, and translational compensation is performed according to the offset value W1, if the following conditions are satisfied: the I D1 is equal to or less than 1-W1I is equal to or less than 2W/2W, and the target is in the virtual safe passage tunnel in the horizontal direction; if the virtual safe passage tunnel is not satisfied, the target is outside the virtual safe passage tunnel in the horizontal direction; d1×cos θ1 is a distance DH1 of the target from the vehicle in the horizontal direction;
in the vertical direction, if: if theta 2 is more than or equal to 0 and D2 is equal to SIN theta 2<H-H1, the target is in the height of the virtual safe passing tunnel in the vertical direction; if θ 2<0 and d2 are equal to or less than-H2, the ground clutter problem and the topography fluctuation problem can be considered, no processing is performed on software, H2 is a set value, H2 is equal to or less than H1, H2 is defined as a height from the azimuth direction horizontal plane of the second millimeter wave radar, topography fluctuation is considered, and given in combination with test data, in one implementation of the present patent, H2 can be set to 0.4 meter. D2×cos θ2 is a distance DH2 of the target from the vehicle in the horizontal direction;
the main control module software judges according to the above criteria, firstly determines the nearest target of the first millimeter wave, if the nearest target is in the virtual safe passage tunnel in the horizontal direction, then further searches the target in the target of the second millimeter wave radar, if the target is found, then judges whether the target is in the virtual safe passage tunnel in the vertical direction, if only one millimeter wave radar determines that the target is in the virtual safe passage tunnel and the other radar determines that the target is not in the virtual safe passage tunnel, then the main control module considers that the front is free of obstacle, the vehicle normally runs, and if the target is simultaneously in the virtual safe passage tunnels of the two radars, the main control module judges that the front is provided with obstacle and gives an early warning.
Further, when the main control module judges that an obstacle exists in front, the main control module sends out vehicle alarming and braking instructions according to preset alarming and braking curves to carry out emergency parking. If the absolute value of the difference between DH1 obtained by the first millimeter wave radar and DH2 obtained by the second millimeter wave radar is smaller than the set value, the two millimeter wave radars are considered to detect the same target, and the target is an effective criterion of the system. The setting is usually in the range of 0.6 to 3 meters, preferably 1 meter.
Judgment method 2: a virtual tunnel construction and obstacle judgment method is provided, wherein a target distance detected by a first millimeter wave radar is set as D1, and an angle is set as theta 1; the distance of the same target detected by the second millimeter wave radar is set to be D2, and the angle is set to be theta 2; the second millimeter wave radar mounting height is set to H1;
in the horizontal direction, any target point detected by the first millimeter wave radar is represented in rectangular coordinates by taking the position of any millimeter wave radar as an origin, a horizontal line of the radar detection direction as an X axis and a straight line perpendicularly crossing the X axis at the origin as a Y axis, wherein (xn=cos θ1×d1, yn=sin θ1×d1); then according to the radar installation position, the width of the vehicle and the safety distance required to be kept on two sides of the vehicle, two points with a certain value on the Y axis are taken, and one point is Y1 at the upper part of the origin of the Y axis; one point is Y2 at the lower part of the origin of the Y axis, two straight lines (Y1, Y2) parallel to the X axis are respectively made through the two points (X0, Y1, X0, Y2), the two straight lines are set as a two-dimensional virtual lane, and the width of the virtual lane is as follows: w, and w=y1-Y2;
in the vertical direction, any target point detected by the second millimeter wave radar is represented by (xn=cos θ2xd2, zn=sin θ2xd2) in rectangular coordinates, wherein the position of any millimeter wave radar is taken as an origin, a horizontal line of the radar detection direction is taken as an X axis, and a straight line perpendicularly crossing the X axis at the origin is taken as a Z axis; then according to the height H1 of the radar installed on the vehicle, the height of the vehicle and the safety distance required to be kept above the vehicle, taking two points with a certain value on the Z axis, wherein one point at the upper part of the origin of the Z axis is Z1, one point at the lower part of the origin of the Z axis is Z2, two straight lines (Z1 and Z2) parallel to the X axis are made through the two points (X0, Z1; X0 and Z2), and the straight line Z1 is set as the height H of a two-dimensional virtual lane, and H=H21+Z1; setting a straight line Z2 as a bottom z2= -H1 of the two-dimensional virtual lane; the virtual lane height H is equal to Z1-Z2;
the two-dimensional horizontal virtual lane width W made by the first millimeter wave radar system is fused with the two-dimensional vertical virtual lane height H made by the second millimeter wave radar system, so that a three-dimensional virtual tunnel with the width W and the height H is formed;
if the first millimeter wave radar detects a target, Y2< Yn < Y1 on the Y axis is satisfied; the target detected by the second millimeter wave radar meets Z2< Zn < Z1 on the Z axis; the two millimeter wave radars confirm that targets exist in the virtual tunnel at the same time, the absolute value of the difference value of the targets measured by the two millimeter wave radars on the X axis is within a set reasonable deviation, the targets are recognized as the same target at the moment, the targets are considered to be criteria of system barriers of FCWS and AEBS, and the system can implement alarming and braking according to the speed of the vehicle, the distance between the vehicle and the targets and the speed difference between the vehicle and the targets;
if only one of the two millimeter wave radars determines that the target is in the virtual tunnel, namely Y2< Yn < Y1 or Z2< Zn < Z1 is satisfied, and the other millimeter wave radars determines that the target is not in the virtual tunnel, namely Y2< Yn < Y1 or Z2< Zn < Z1 is not satisfied; or the two millimeter wave radars judge that the targets are in the virtual tunnel, namely Y2< Yn < Y1 and Z2< Zn < Z1 are satisfied, and the absolute value of the difference value of the targets measured by the two millimeter wave radars on the X axis is larger than the system setting, the targets are not recognized as barriers and are not used as the basis for system alarming and braking; when the target Zn detected by the second millimeter wave radar is less than or equal to Z2, the target Zn is considered as interference clutter of the ground, and the system does not do a criterion.
Further, when two millimeter wave radars are installed on the same horizontal straight line, the installation origin of the second millimeter wave radar is taken as the origin of the whole system, and the first millimeter wave radar performs translation compensation on a horizontal axis by measuring the horizontal distance between the first millimeter wave radar and the second millimeter wave radar so as to unify the origins of rectangular coordinate systems of the horizontal installation and vertical installation radars; when two millimeter wave radars are installed on the same vertical line, the installation origin of the first millimeter wave radar is used as the origin of the whole system, and the second millimeter wave radar performs translation compensation on the vertical axis by measuring the vertical distance between the second millimeter wave radar and the first millimeter wave radar so as to unify the origins of rectangular coordinate systems of the vertical installation and horizontal installation radars.
The beneficial effects of the invention are as follows: the structure combines two existing millimeter wave radars with unidirectional angle resolution function through the combined application of normal horizontal installation and vertical installation by rotating 90 degrees, realizes the identification of two-dimensional plane spaces, combines the two-dimensional plane spaces into the identification of a three-dimensional space, effectively makes up the blank of the prior art and products, eliminates the misjudgment possibly occurring because of no vertical identification of the height, greatly improves the function of the products, and provides possibility for all-weather use of FCWS and AEBS systems.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
Fig. 1 is a functional block diagram of the present invention.
Fig. 2 is a mounting structure of the millimeter wave radar of the present invention.
Fig. 3 is a schematic diagram of a horizontal polar coordinate construction of the present invention.
Fig. 4 is a schematic diagram of the vertical polar construction of the present invention.
Fig. 5 is a schematic diagram of the horizontal rectangular coordinate construction of the present invention.
Fig. 6 is a schematic diagram of the vertical rectangular coordinate construction of the present invention.
Fig. 7 is a schematic diagram of rectangular coordinates of two millimeter wave radar mounted on the same horizontal straight line.
Fig. 8 is a schematic diagram of rectangular coordinates of two millimeter wave radars mounted on the same vertical line.
Fig. 9 is a schematic diagram of a three-dimensional virtual tunnel formed by combining.
Marked in the figure as: 1-a first millimeter wave radar, 2-a second millimeter wave radar.
Detailed Description
The invention will now be described in detail with reference to the drawings and specific examples.
Embodiment one.
As shown in fig. 1 and 2, a millimeter wave radar combined installation structure comprises a millimeter wave radar installed at the front end of a vehicle, a main control module, a display alarm module and a brake actuating mechanism, wherein the millimeter wave radar comprises a first millimeter wave radar and a second millimeter wave radar, the first millimeter wave radar is horizontally installed, the second millimeter wave radar is vertically installed, the two millimeter wave radars are respectively connected with a signal input end of the main control module, a signal output end of the main control module is respectively connected with the display alarm module and the brake actuating mechanism, the main control module receives detection signals of the two millimeter wave radars and judges whether an obstacle exists in front, and meanwhile, whether the display alarm module alarms and whether the brake actuating mechanism executes brake braking is controlled through a judging result.
In this embodiment, the combined structure further includes a brake executing mechanism, a driving signal input end of the brake executing mechanism is connected with a signal output end of the main control module, and when the main control module determines that an obstacle exists in front, a control signal is sent to drive the brake executing mechanism to execute brake braking. The brake actuating mechanism adopts the self-contained actuating mechanism in the existing AEBS (automatic emergency brake) system.
In this embodiment, the installation directions of the first millimeter wave radar and the second millimeter wave radar differ by 90 degrees, and the first millimeter wave radar is installed at the center line position of the front end of the automobile in the straight running direction. The two millimeter wave radars can be independent millimeter wave radars or integrated together. The two millimeter wave radar installation distance is generally smaller than the width of the vehicle. The millimeter wave radar can adopt two 77G millimeter wave radars of Fuji Tong sky.
In this embodiment, the processor of the master control module adopts an STM32F407 processor, and is provided with 2 CAN bus interfaces, and the millimeter wave radar sends the processed target information to the processor through the CAN bus interfaces.
The processor is provided with a display, an audible and visual alarm and a brake motor driving interface, and can finish target information display under software control, the audible and visual alarm, the brake motor driving and the brake system of the vehicle to finish a brake function. The software is written in C language, and mainly completes system initialization, system self-checking, radar information setting and initialization, brake information setting and initialization, and alarm information setting and initialization. The software sets the maximum target number to 20, completes the information processing of the radar according to the judging method 2 carried by the patent, displays the radar at the same time, and carries out alarm or brake processing according to the method carried by the patent if the target is in the virtual tunnel.
Embodiment two.
The first millimeter wave radar and the second millimeter wave radar are mounted in the mounting manner in the first embodiment.
The distance and the angle of the detected target signals are respectively sent to the signal processor by the two millimeter wave radars, so that the data given by the millimeter wave radars are simplified into the distance D and the angle theta of the target for simplicity, wherein the distance D is a non-negative value, and the unit can be meter or cm; the angle θ has a positive sign and a negative sign in degrees to determine the left-right direction or the up-down direction of the target at the position (0) where the millimeter wave radar is mounted, and for convenience of description below, the vehicle forward direction is referred to, the left side is specified as positive, the right side as negative, the upper side as positive, and the lower side as negative.
Assuming that the vehicle is running on a horizontal road surface, the distance of one target detected by the first millimeter wave radar is D1, and the angle is theta 1; for the same target distance detected by the second millimeter wave radar, D2 is the angle theta 2. Setting the width of the virtual passing tunnel as W according to the width of the vehicle and the safety distance to be kept on two sides of the vehicle; according to the height of the vehicle and the safety distance to be kept above the vehicle, setting the height of the virtual passage tunnel as H; the linear distance between the first millimeter wave radar installation position and the center line of the vehicle is W1, and the second millimeter wave radar installation height is H1.
Wherein the width of the virtual passage tunnel is such that a safety margin can be added to the width of the vehicle, and if the vehicle width is 2 meters and the safety margin is 1 meter, the width is 3 meters. The height of the virtual passage tunnel is such that a safety margin can be added to the height of the vehicle, and if the vehicle height is 1.6 m and the safety margin is 0.5 m, the height is 2.1 m.
Determination method 1:
as shown in fig. 3 and 4, constructing polar coordinates with millimeter wave radar mounting positions as poles; assuming that the first millimeter wave radar is installed at the center line position in the normal straight traveling direction of the vehicle, it is possible to judge whether the target is an obstacle or not by software, whether braking is required or can be passed according to the following formula. If the following conditions are satisfied in the horizontal direction: and D1 is equal to or less than SIN theta 1 is equal to or less than W/2, (if the millimeter wave radar is not arranged at the central line position of the vehicle, the millimeter wave radar is biased to be right, the millimeter wave radar is left to be negative, the millimeter wave radar is biased to be W1, the millimeter wave radar can perform translational compensation according to the bias value W1, the translational compensation is simple in mathematic, and the target is in the virtual safe passing tunnel in the horizontal direction according to the judgment basis of D1 is equal to or less than W/2. If not, the target is outside the virtual safe passage tunnel in the horizontal direction. D1×cos θ1 is a distance DH1 of the target from the vehicle in the horizontal direction.
In the vertical direction, if: if theta 2 is more than or equal to 0 and D2 is equal to SIN theta 2<H-H1, the target is in the height of the virtual safe passing tunnel in the vertical direction; if θ 2<0 and d2 are equal to or less than-H2, the ground clutter problem and the topography fluctuation problem can be considered, the software does not process, H2 is a set value, H2 is equal to or less than H1, H2 is defined as the height from the azimuth direction horizontal plane of the second millimeter wave radar, topography fluctuation is considered, and given in combination with test data, in one implementation of the present patent, H2 is 0.4 meter. D2×cos θ2 is a distance DH2 of the target from the vehicle in the horizontal direction.
The main control module judges that if the absolute value of the difference between DH1 obtained by the millimeter wave radar 1 and DH2 obtained by the millimeter wave radar 2 is smaller than a set value, the two millimeter wave radars are considered to detect the same target, and the target is an effective criterion of the system. The set point may be software, and in one implementation of this patent, the set point is 1.0 meters.
If the main control module software judges according to the criterion, firstly determining the nearest target of the first millimeter wave, if the nearest target is satisfied that the main control module software is in the virtual safe passing tunnel in the horizontal direction, searching the target in the target of the second millimeter wave radar, if the target is found, judging whether the target is in the virtual safe passing tunnel in the vertical direction, and if the target is satisfied, sending a vehicle alarming and braking instruction by the processor software according to a preset alarming and braking curve, and carrying out emergency parking; if only one millimeter wave radar determines that the target is in the virtual safe passage tunnel and the other radar determines that the target is not in the virtual safe passage tunnel, the main control module considers that no obstacle exists in front, and the vehicle normally runs.
The main control module software processes the next near target according to the method, and so on until the processing of all targets set by the software is completed.
Determination method 2:
as shown in fig. 5 and 6, the system may also convert polar coordinate information such as the distance D1 and the angle θ1 provided by the first millimeter wave radar installed horizontally into two-dimensional plane rectangular coordinate information. Namely: the position of the millimeter wave radar is taken as an origin, a horizontal line of the radar detection direction is taken as an X axis, and a straight line vertically crossing the X axis at the origin is taken as a Y axis. Any target point detected by the millimeter wave radar may be expressed in rectangular coordinates with (xn=cos θ1×d1, yn=sinθ1×d1). According to the radar installation position, the width of the vehicle and the safety distance required to be kept on two sides of the vehicle, two points with a certain value on the Y axis (one point is Y1 at the upper part of the origin of the Y axis, and one point is Y2 at the lower part of the origin of the Y axis) are taken, two straight lines (Y1 and Y2) parallel to the X axis are respectively made through the two points (X0, Y1, X0 and Y2), and the two straight lines are set as a two-dimensional virtual lane. The virtual lane width is: w is a metal; (w=y1-Y2).
According to the method, polar coordinate information such as the distance D2 and the angle theta 2 provided by the second millimeter wave radar which is vertically installed can be converted into plane rectangular coordinate information of another two dimensions. Namely: the position of the millimeter wave radar is taken as an origin, a horizontal line of the radar detection direction is taken as an X axis, and a straight line vertically crossing the X axis at the origin is taken as a Z axis. Any target point detected by the millimeter wave radar may be expressed in rectangular coordinates with (xn=cos θ2xd2, zn=sinθ2xd2). According to the height (H1) of the radar installed on the vehicle, the height of the vehicle and the safety distance required to be kept above the vehicle, two points with a certain value on the Z axis are taken, one point at the upper part of the origin of the Z axis is Z1, and one point at the lower part of the origin of the Z axis is Z2. Two straight lines (Z1, Z2) parallel to the X axis are made through the two points (X0, Z1; X0, Z2), and the straight line Z1 is set to be the height H (H=H2+Z1) of the two-dimensional virtual lane; the straight line Z2 is set as the bottom of the two-dimensional virtual lane (z2= -H1). The virtual lane height H is also equal to Z1-Z2.
The two-dimensional horizontal virtual lane width (W) made by the first millimeter wave radar system is fused with the two-dimensional vertical virtual lane height (H) made by the second millimeter wave radar system, so that a three-dimensional virtual tunnel with the width W and the height H is formed.
In practical application, if the millimeter wave radar 1 detects a target, Y2< Yn < Y1 is satisfied on the Y axis; the target detected by the millimeter wave radar 2 satisfies Z2< Zn < Z1 on the Z axis. Then the two millimeter wave radars can simultaneously confirm that targets exist in the virtual tunnel, and the absolute value of the difference value of the targets measured by the two millimeter wave radars on the X axis is within the set reasonable deviation, (the deviation value can be set by software, in one implementation of the patent, the value is set to be 1.0 meter.) namely the targets are identified as the same targets, the targets are supposed to be the criteria of the system barriers of FCWS and AEBS, and the system can implement alarming and braking according to the speed of the vehicle, the distance between the vehicle and the targets and the speed difference between the vehicle and the targets.
If only one of the two millimeter wave radars determines that the target is within the virtual tunnel (Y2 < Yn < Y1 or Z2< Zn < Z1 is satisfied), and the other determines that it is not within the virtual tunnel (Y2 < Yn < Y1 or Z2< Zn < Z1 is not satisfied); or the two millimeter wave radars judge that the target is in the virtual tunnel (Y2 < Yn < Y1 and Z2< Zn < Z1 are satisfied), but the absolute value of the difference value of the target measured by the two millimeter wave radars on the X axis is larger than the system setting, and the two millimeter wave radars cannot be regarded as an obstacle and cannot be used as the basis of system alarm and braking. When the target Zn detected by the second millimeter wave radar is less than or equal to Z2, the target Zn can be considered as interference clutter of the ground, and the system does not do a criterion.
As shown in fig. 7 and 8, the first millimeter wave radar and the second millimeter wave radar are installed as centrally, close to, on the same horizontal line or on the same vertical line as possible.
When two millimeter wave radars are arranged on the same horizontal straight line, the origin (02) of the second millimeter wave radar can be used as the origin (0A) of the whole system, and the first millimeter wave radar can perform translational compensation (DA) on a horizontal axis by measuring the horizontal distance between the first millimeter wave radar and the second millimeter wave radar so as to unify the origins (0A) of rectangular coordinate systems of the horizontal installation and the vertical installation radars; as shown in fig. 7.
When two millimeter wave radars are arranged on the same vertical straight line, the origin (01) of the first millimeter wave radar can be used as the origin (0B) of the whole system, and the second millimeter wave radar can perform translation compensation on a vertical axis by measuring the vertical distance between the second millimeter wave radar and the first millimeter wave radar so as to unify the origins (0B) of rectangular coordinate systems of the vertical installation and horizontal installation radars; as in fig. 8.
The main control module software processes the detected targets one by one from near to far according to the method until the judgment of all targets is completed.
In the structure and the method, the distance and angle of the target in the horizontal direction and the distance and angle of the target in the vertical direction are identified through the combination of the two millimeter wave radars and the specific installation mode and the radar target signal processing mode. The information forms a three-dimensional virtual safe passing tunnel capable of judging whether the vehicle passes safely or not, so that the functions of the existing product are greatly improved.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It should be understood by those skilled in the art that the above embodiments do not limit the scope of the present invention in any way, and all technical solutions obtained by equivalent substitution and the like fall within the scope of the present invention.
The invention is not related in part to the same as or can be practiced with the prior art.
Claims (6)
1. The virtual tunnel construction and obstacle judgment method is characterized by comprising a millimeter wave radar arranged at the front end of a car, a main control module, a display alarm module and a brake actuating mechanism, wherein the millimeter wave radar comprises a first millimeter wave radar and a second millimeter wave radar, the installation directions of the first millimeter wave radar and the second millimeter wave radar differ by 90 degrees, and the first millimeter wave radar and the second millimeter wave radar are arranged at two sides or one side of the center line position of the front end of the car or one or two of the millimeter wave radars are arranged on the center line position of the front end of the car; the first millimeter wave radar is horizontally installed, the second millimeter wave radar is vertically installed, the two millimeter wave radars are respectively connected with the signal input end of the main control module, the signal output end of the main control module is respectively connected with the display alarm module and the brake actuating mechanism, the main control module receives detection signals of the two millimeter wave radars and judges whether an obstacle exists in front, and meanwhile, whether the display alarm module alarms or not and whether the brake actuating mechanism executes brake braking or not is controlled according to the judging result; the specific judging method comprises the following steps:
constructing polar coordinates by taking the installation position of each millimeter wave radar as a pole; then setting the width of the virtual passing tunnel as W according to the width of the vehicle and the safety distance to be kept on two sides of the vehicle; according to the height of the vehicle and the safety distance to be kept above the vehicle, setting the height of the virtual passage tunnel as H; setting a target distance detected by the first millimeter wave radar as D1 and setting an angle as theta 1; the distance of the same target detected by the second millimeter wave radar is set to be D2, and the angle is set to be theta 2; the second millimeter wave radar mounting height is set to H1;
in the horizontal direction, if the millimeter wave radar is installed at the front center line of the automobile, if: the I D1 is equal to or less than 1I W/2, and the target is in the virtual safe passing tunnel in the horizontal direction; if the virtual safe passage tunnel is not satisfied, the target is outside the virtual safe passage tunnel in the horizontal direction; if the millimeter wave radar is not installed on the central line of the front end of the automobile, the offset is positive to the right, the left is negative, the offset is W1, and translational compensation is performed according to the offset value W1, if the following conditions are satisfied: the I D1 is equal to or less than 1-W1I is equal to or less than 2W/2W, and the target is in the virtual safe passage tunnel in the horizontal direction; if the virtual safe passage tunnel is not satisfied, the target is outside the virtual safe passage tunnel in the horizontal direction; d1×cos θ1 is a distance DH1 of the target from the vehicle in the horizontal direction;
in the vertical direction, if: if theta 2 is more than or equal to 0 and D2 is equal to SIN theta 2<H-H1, the target is in the height of the virtual safe passing tunnel in the vertical direction; if theta 2<0 and D2 are less than or equal to-H2, the problems of ground clutter and topography fluctuation can be considered, and the treatment is not performed, wherein H2 is a set value, H2 is less than or equal to H1, and H2 is defined as the height from the azimuth direction horizontal plane of the second millimeter wave radar; d2×cos θ2 is a distance DH2 of the target from the vehicle in the horizontal direction;
the main control module software judges according to the above criteria, firstly determines the nearest target of the first millimeter wave, if the nearest target is in the virtual safe passage tunnel in the horizontal direction, then further searches the target in the target of the second millimeter wave radar, if the target is found, then judges whether the target is in the virtual safe passage tunnel in the vertical direction, if only one millimeter wave radar determines that the target is in the virtual safe passage tunnel and the other radar determines that the target is not in the virtual safe passage tunnel, then the main control module considers that the front is free of obstacle, the vehicle normally runs, and if the target is simultaneously in the virtual safe passage tunnels of the two radars, the main control module judges that the front is provided with obstacle and gives an early warning.
2. The method for constructing and judging the obstacle according to claim 1, wherein when the main control module judges that the obstacle exists in front, the main control module sends out a vehicle alarming and braking command according to a preset alarming and braking curve to carry out emergency stop.
3. The virtual tunnel construction and obstacle determination method according to claim 1, wherein if the absolute value of the difference between DH1 obtained by the first millimeter wave radar and DH2 obtained by the second millimeter wave radar is smaller than a set value, the two millimeter wave radars are considered to detect the same target, which is an effective criterion of the system.
4. A virtual tunnel construction and obstacle deciding method according to claim 3, wherein the set value is 0.6-3 meters.
5. The virtual tunnel construction and obstacle judgment method is characterized by comprising a millimeter wave radar arranged at the front end of a car, a main control module, a display alarm module and a brake actuating mechanism, wherein the millimeter wave radar comprises a first millimeter wave radar and a second millimeter wave radar, the installation directions of the first millimeter wave radar and the second millimeter wave radar differ by 90 degrees, and the first millimeter wave radar and the second millimeter wave radar are arranged at two sides or one side of the center line position of the front end of the car or one or two of the millimeter wave radars are arranged on the center line position of the front end of the car; the first millimeter wave radar is horizontally installed, the second millimeter wave radar is vertically installed, the two millimeter wave radars are respectively connected with the signal input end of the main control module, the signal output end of the main control module is respectively connected with the display alarm module and the brake actuating mechanism, the main control module receives detection signals of the two millimeter wave radars and judges whether an obstacle exists in front, and meanwhile, whether the display alarm module alarms or not and whether the brake actuating mechanism executes brake braking or not is controlled according to the judging result; the specific judging method comprises the following steps:
setting a target distance detected by the first millimeter wave radar as D1 and setting an angle as theta 1; the distance of the same target detected by the second millimeter wave radar is set to be D2, and the angle is set to be theta 2; the second millimeter wave radar mounting height is set to H1;
in the horizontal direction, any target point detected by the first millimeter wave radar is represented in rectangular coordinates by taking the position of any millimeter wave radar as an origin, a horizontal line of the radar detection direction as an X axis and a straight line perpendicularly crossing the X axis at the origin as a Y axis, wherein (xn=cos θ1×d1, yn=sin θ1×d1); then according to the radar installation position, the width of the vehicle and the safety distance required to be kept on two sides of the vehicle, two points with a certain value on the Y axis are taken, and one point is Y1 at the upper part of the origin of the Y axis; one point is Y2 at the lower part of the origin of the Y axis, two straight lines (Y1, Y2) parallel to the X axis are respectively made through the two points (X0, Y1, X0, Y2), the two straight lines are set as a two-dimensional virtual lane, and the width of the virtual lane is as follows: w, and w=y1-Y2;
in the vertical direction, any target point detected by the second millimeter wave radar is represented by (xn=cos θ2xd2, zn=sin θ2xd2) in rectangular coordinates, wherein the position of any millimeter wave radar is taken as an origin, a horizontal line of the radar detection direction is taken as an X axis, and a straight line perpendicularly crossing the X axis at the origin is taken as a Z axis; then according to the height H1 of the radar installed on the vehicle, the height of the vehicle and the safety distance required to be kept above the vehicle, taking two points with a certain value on the Z axis, wherein one point at the upper part of the origin of the Z axis is Z1, one point at the lower part of the origin of the Z axis is Z2, two straight lines (Z1 and Z2) parallel to the X axis are made through the two points (X0, Z1; X0 and Z2), and the straight line Z1 is set as the height H of a two-dimensional virtual lane, and H=H21+Z1; setting a straight line Z2 as a bottom z2= -H1 of the two-dimensional virtual lane; the virtual lane height H is equal to Z1-Z2;
the two-dimensional horizontal virtual lane width W made by the first millimeter wave radar system is fused with the two-dimensional vertical virtual lane height H made by the second millimeter wave radar system, so that a three-dimensional virtual tunnel with the width W and the height H is formed;
if the first millimeter wave radar detects a target, Y2< Yn < Y1 on the Y axis is satisfied; the target detected by the second millimeter wave radar meets Z2< Zn < Z1 on the Z axis; the two millimeter wave radars confirm that targets exist in the virtual tunnel at the same time, the absolute value of the difference value of the targets measured by the two millimeter wave radars on the X axis is within a set reasonable deviation, the targets are recognized as the same target at the moment, the targets are considered to be criteria of system barriers of FCWS and AEBS, and the system can implement alarming and braking according to the speed of the vehicle, the distance between the vehicle and the targets and the speed difference between the vehicle and the targets;
if only one of the two millimeter wave radars determines that the target is in the virtual tunnel, namely Y2< Yn < Y1 or Z2< Zn < Z1 is satisfied, and the other millimeter wave radars determines that the target is not in the virtual tunnel, namely Y2< Yn < Y1 or Z2< Zn < Z1 is not satisfied; or the two millimeter wave radars judge that the targets are in the virtual tunnel, namely Y2< Yn < Y1 and Z2< Zn < Z1 are satisfied, and the absolute value of the difference value of the targets measured by the two millimeter wave radars on the X axis is larger than the system setting, the targets are not recognized as barriers and are not used as the basis for system alarming and braking; when the target Zn detected by the second millimeter wave radar is less than or equal to Z2, the target Zn is considered as interference clutter of the ground, and the system does not do a criterion.
6. The virtual tunnel construction and obstacle determination method according to claim 5, wherein when two millimeter wave radars are installed on the same horizontal straight line, an installation origin of a second millimeter wave radar is taken as an origin of the whole system, and translation compensation is performed on a horizontal axis by measuring a horizontal distance between a first millimeter wave radar and the second millimeter wave radar so as to unify origins of rectangular coordinate systems of horizontally installed and vertically installed radars; when two millimeter wave radars are installed on the same vertical line, the installation origin of the first millimeter wave radar is used as the origin of the whole system, and the second millimeter wave radar performs translation compensation on the vertical axis by measuring the vertical distance between the second millimeter wave radar and the first millimeter wave radar so as to unify the origins of rectangular coordinate systems of the vertical installation and horizontal installation radars.
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| CN111566505A (en) * | 2019-06-28 | 2020-08-21 | 深圳市大疆创新科技有限公司 | Calibration method and system for installation angle of millimeter wave radar component and movable platform |
| CN111290410A (en) * | 2020-05-11 | 2020-06-16 | 南京楚航科技有限公司 | Millimeter wave radar-based automatic ship berthing and departing system and method |
| CN112373469A (en) * | 2020-11-12 | 2021-02-19 | 浙江吉利控股集团有限公司 | Vehicle control method, control system and vehicle |
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