CN109870690A - A kind of Radar for vehicle method for early warning, device and vehicle - Google Patents
A kind of Radar for vehicle method for early warning, device and vehicle Download PDFInfo
- Publication number
- CN109870690A CN109870690A CN201910194035.6A CN201910194035A CN109870690A CN 109870690 A CN109870690 A CN 109870690A CN 201910194035 A CN201910194035 A CN 201910194035A CN 109870690 A CN109870690 A CN 109870690A
- Authority
- CN
- China
- Prior art keywords
- radar
- vehicle
- group
- monitoring
- distance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000012544 monitoring process Methods 0.000 claims abstract description 260
- 230000004888 barrier function Effects 0.000 claims abstract description 56
- 230000003068 static effect Effects 0.000 claims description 13
- 238000010586 diagram Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Landscapes
- Traffic Control Systems (AREA)
Abstract
The embodiment of the invention discloses a kind of Radar for vehicle method for early warning, device and vehicles.In the Radar for vehicle method for early warning, the vehicle's surroundings are provided with multiple monitoring radars, and the Radar for vehicle method for early warning includes: real-time acquisition vehicle-state；The monitoring signals of the default radar monitoring group of the corresponding vehicle-state are obtained, the default radar monitoring group includes at least one of the multiple monitoring radar；Determine vehicle at a distance from barrier according to the monitoring signals of the default radar monitoring group；The vehicle is started into early warning when the vehicle reaches the default obstacle distance condition at a distance from barrier with default obstacle distance conditions correlation at a distance from barrier in real time.The embodiment of the present invention realizes the strategy that the specific aim under different vehicle state carries out early warning, improves the validity of early warning, improves the traffic safety of vehicle.
Description
Technical field
The present embodiments relate to on-vehicle safety technical field more particularly to a kind of Radar for vehicle method for early warning, device and
Vehicle.
Background technique
With the rapid growth of automobile quantity in world wide, road vehicle is increasing, motor-vehicle accident it is frequent
Occur also to become the problem of becoming increasingly conspicuous.
Existing vehicle is equipped with radar system mostly, but is usually to provide operation ginseng when vehicle is moved backward for user
It examines, or is respectively provided with radar system in vehicle's surroundings, to monitor the barrier etc. of vehicle's surroundings, it is clear that is single to fall
Early radar warning is provided when vehicle, driver's hazard recognition cannot be assisted under other vehicle modes；And use surrounding setting radar pre-
Alert scheme, due to some regions under different vehicle mode not effective prewarning area, invalid early warning can be generated, and
These non-effective prewarning areas will lead to alert frequency increase, so that driver generates dislike to early warning system, the police to alarm
Cautious degree reduces.
Summary of the invention
The present invention provides a kind of Radar for vehicle method for early warning, device and vehicle, to realize in different vehicle state knit stitch
The strategy that early warning is carried out to property, improves the validity of early warning.
In a first aspect, the embodiment of the invention provides a kind of Radar for vehicle method for early warning, the vehicle's surroundings are provided with more
A monitoring radar, the Radar for vehicle method for early warning include:
Vehicle-state is obtained in real time；
The monitoring signals of the default radar monitoring group of the corresponding vehicle-state are obtained, the default radar monitoring group includes
At least one of the multiple monitoring radar；
Determine vehicle at a distance from barrier according to the monitoring signals of the default radar monitoring group；
In real time by the vehicle at a distance from barrier with default obstacle distance conditions correlation, in the vehicle and obstacle
When the distance of object reaches the default obstacle distance condition, start early warning.
Optionally, the vehicle-state includes at least still-mode, reversing mode, steering pattern and driving mode.
Optionally, before the multiple monitoring radar includes at least just before radar group, just rear radar group, left front radar group, the right side
Radar group behind radar group, left back radar group and the right side；The just preceding radar group includes at least one that the front of the car is arranged in
Monitor radar；The just rear radar group includes at least one monitoring radar that the rear vehicle end is arranged in, the left front radar
Group includes at least one monitoring radar that the vehicle left front end is arranged in, and radar group includes being arranged in the vehicle before the right side
At least one monitoring radar of right front ends, the left back radar group include that at least one monitoring at the left back end of the vehicle is arranged in
Radar, it is described it is right after radar group include at least one monitoring radar that the vehicle right rear end is set；
The monitoring signals of the default radar monitoring group for obtaining the corresponding vehicle-state, comprising:
When the vehicle-state is still-mode, the monitoring letter of the static radar monitoring group of corresponding still-mode is obtained
Number, the static radar monitoring group includes radar group before just preceding radar group, left front radar group and the right side；
When the vehicle-state is reversing mode, the monitoring letter of the reverse radar monitoring group of corresponding reversing mode is obtained
Number, the reverse radar monitoring group includes radar group and just rear radar group before just preceding radar group, left front radar group, the right side；
When the vehicle-state is steering pattern, the monitoring letter of the steering radar monitoring group of corresponding steering pattern is obtained
Number, the steering radar monitoring group includes radar group before just preceding radar group, left front radar group and the right side；
When the vehicle-state is driving mode, the monitoring letter of the traveling radar monitoring group of corresponding driving mode is obtained
Number, the traveling radar monitoring group includes just preceding radar group.
Optionally, the default radar monitoring group includes back radars monitoring group, and the back radars monitoring group includes just
Radar group behind radar group, left back radar group and the right side afterwards；
After the real-time acquisition vehicle-state, further includes:
The monitoring signals of the back radars monitoring group are obtained,
Determine vehicle at a distance from rear object according to the monitoring signals of the back radars monitoring group；
In real time by the vehicle at a distance from rear object with default rear object distance condition compare, the vehicle with
When the distance of rear object reaches the default rear object distance condition, start early warning.
It is optionally, described to start early warning when reaching default obstacle distance condition at a distance from barrier in the vehicle,
Include:
When the vehicle is lower than the first pre-determined distance value at a distance from barrier, start primary warning；
When the vehicle is lower than the second pre-determined distance value at a distance from barrier, start advanced early warning；Described second is pre-
If distance value is less than the first pre-determined distance value.
Second aspect, the embodiment of the invention also provides a kind of Radar for vehicle prior-warning device, the vehicle's surroundings are provided with
Multiple monitoring radars, the Radar for vehicle prior-warning device include:
Vehicle-state obtains module, for obtaining vehicle-state in real time；
Monitoring signals obtain module, the monitoring signals of the default radar monitoring group for obtaining the corresponding vehicle-state,
The default radar monitoring group includes at least one of the multiple monitoring radar；
Distance obtains module, for according to the monitoring signals of the default radar monitoring group determine vehicle and barrier away from
From；
Warning module, for by the vehicle at a distance from barrier with default obstacle distance conditions correlation, described
When vehicle reaches the default obstacle distance condition at a distance from barrier, start early warning.
Optionally, the vehicle-state includes at least still-mode, reversing mode, steering pattern and driving mode.
Optionally, before the multiple monitoring radar includes at least just before radar group, just rear radar group, left front radar group, the right side
Radar group behind radar group, left back radar group and the right side；The just preceding radar group includes at least one that the front of the car is arranged in
Monitor radar；The just rear radar group includes at least one monitoring radar that the rear vehicle end is arranged in, the left front radar
Group includes at least one monitoring radar that the vehicle left front end is arranged in, and radar group includes being arranged in the vehicle before the right side
At least one monitoring radar of right front ends, the left back radar group include that at least one monitoring at the left back end of the vehicle is arranged in
Radar, it is described it is right after radar group include at least one monitoring radar that the vehicle right rear end is set；
The monitoring signals obtain module and are used to obtain corresponding still-mode when the vehicle-state is still-mode
The monitoring signals of static radar monitoring group, the static radar monitoring group include thunder before just preceding radar group, left front radar group and the right side
Up to group；
When the vehicle-state is reversing mode, the monitoring letter of the reverse radar monitoring group of corresponding reversing mode is obtained
Number, the reverse radar monitoring group includes radar group and just rear radar group before just preceding radar group, left front radar group, the right side；
When the vehicle-state is steering pattern, the monitoring letter of the steering radar monitoring group of corresponding steering pattern is obtained
Number, the steering radar monitoring group includes radar group before just preceding radar group, left front radar group and the right side；
When the vehicle-state is driving mode, the monitoring letter of the traveling radar monitoring group of corresponding driving mode is obtained
Number, the traveling radar monitoring group includes just preceding radar group.
Optionally, the default radar monitoring group includes back radars monitoring group, and the back radars monitoring group includes just
Radar group behind radar group, left back radar group and the right side afterwards；
The monitoring signals obtain the monitoring signals that module is also used to obtain the back radars monitoring group；
The distance obtains module and is also used to determine vehicle and rear according to the monitoring signals of the back radars monitoring group
The distance of object；
The warning module be also used in real time by the vehicle at a distance from rear object with default rear object apart from item
Part comparison starts early warning when the vehicle reaches the default rear object distance condition at a distance from rear object.
The third aspect, the embodiment of the invention also provides a kind of vehicles, including the vehicle thunder as described in second aspect is any
It further include multiple monitoring radars that vehicle's surroundings are set up to prior-warning device.
Radar for vehicle method for early warning, device and vehicle provided in an embodiment of the present invention, by obtaining vehicle-state in real time, and
The monitoring signals of the default radar monitoring group of corresponding vehicle-state are obtained, it is then true according to the monitoring signals for presetting radar monitoring group
Determine vehicle at a distance from barrier, finally in real time by vehicle at a distance from barrier with default obstacle distance conditions correlation,
When vehicle reaches default obstacle distance condition at a distance from barrier, start early warning.The embodiment of the present invention can be according to specific
Ground vehicle-state carries out early warning, and the early warning alert for solving existing reversing radar early warning is single, and the early warning of surrounding setting radar
System easily leads to invalid early warning and increases, the excessively high problem of alert frequency, realizes the specific aim under different vehicle state and carries out in advance
Alert strategy improves the validity of early warning, improves the traffic safety of vehicle.
Detailed description of the invention
Fig. 1 is a kind of flow chart for Radar for vehicle method for early warning that the embodiment of the present invention one provides；
Fig. 2 is a kind of flow chart of Radar for vehicle method for early warning provided by Embodiment 2 of the present invention；
Fig. 3 is a kind of flow chart for Radar for vehicle method for early warning that the embodiment of the present invention three provides；
Fig. 4 is a kind of structural schematic diagram for Radar for vehicle prior-warning device that the embodiment of the present invention four provides；
Fig. 5 is a kind of structural schematic diagram of vehicle provided in an embodiment of the present invention.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
Fig. 1 is a kind of flow chart for Radar for vehicle method for early warning that the embodiment of the present invention one provides, with reference to Fig. 1, the vehicle
Early radar warning method can be executed by Radar for vehicle prior-warning device, which can be real by software or hardware
Existing, which is configurable in vehicle early warning equipment.The corresponding vehicle's surroundings of Radar for vehicle method for early warning
Multiple monitoring radars are installed, which includes:
S110, vehicle-state is obtained in real time.
Wherein, the division of vehicle-state may include a variety of, illustratively, can be divided into dead ship condition and row according to speed
State is sailed, straight-going state, state of rolling backward and steering state can also be divided into according to driving direction.Specifically, vehicle-state can
It is obtained in a manner of through the speed signal of monitoring vehicle, wheel steering, gearbox signal and interception vehicle bus signal etc.
Vehicle-state.
S120, the monitoring signals for corresponding to the default radar monitoring group of vehicle-state are obtained, it includes more for presetting radar monitoring group
At least one of a monitoring radar.
Default radar monitoring group is made of the part radar being arranged in multiple monitoring radars of vehicle's surroundings, and is corresponded to
Different vehicle-states, the radar setting position preset in radar monitoring group may be different, and quantity is also not quite similar.It is exemplary
Ground, for the vehicle under dead ship condition, needing the blind area of early warning is mostly headstock front, therefore default radar monitoring group may include
It is set at least one monitoring radar of vehicle front.
S130, determine vehicle at a distance from barrier according to the monitoring signals for presetting radar monitoring group.
After the monitoring signals of known default radar monitoring group, can according to radar range finding principle, calculate obtain vehicle with
The distance of barrier.Wherein barrier can be object, vehicle, human or animal etc..
S140, in real time by vehicle at a distance from barrier with default obstacle distance conditions correlation, in vehicle and barrier
Distance when reaching default obstacle distance condition, start early warning.
Default obstacle distance condition is preset minimum obstacle distance, illustratively, when barrier and vehicle
Distance when being 3 meters, barrier can become the security risk of vehicle, can set 3 meters at this time as minimum obstacle distance, i.e., default
Obstacle distance condition is less than or equal to 3 meters.When barrier is less than or equal to 3 meters, early warning can be started to be reminded.Tool
Body, the mode of early warning can there are many, including sound early warning, light early warning and vibration early warning etc., herein with no restrictions.
The Radar for vehicle method for early warning that the embodiment of the present invention one provides, by obtaining vehicle-state in real time, and obtains correspondence
The monitoring signals of the default radar monitoring group of vehicle-state, then according to preset radar monitoring group monitoring signals determine vehicle with
The distance of barrier, finally in real time by vehicle at a distance from barrier with default obstacle distance conditions correlation, vehicle and barrier
When the distance of object being hindered to reach default obstacle distance condition, start early warning.The Radar for vehicle early warning that the embodiment of the present invention one provides
Method can carry out early warning according to specifically vehicle-state, and the early warning alert for solving existing reversing radar early warning is single, and four
The early warning system of week setting radar easily leads to invalid early warning and increases, and the excessively high problem of alert frequency is realized in different vehicle shape
Specific aim carries out the strategy of early warning under state, improves the validity of early warning, improves the traffic safety of vehicle.
Specifically, for different vehicles, such as car, bus, full trailor and semitrailer etc., vehicle-state phase not to the utmost
Together, the general character based on all vehicles, vehicle-state should include at least still-mode, reversing mode, steering pattern and driving mode.
Under different vehicle-states, the region of the vehicle's surroundings of required monitoring is not quite similar, it is to be understood that in order to
Guarantee that monitoring can be effectively performed in each region, radar group can be set in the different zones of vehicle's surroundings.Optionally, Duo Gejian
Radar is surveyed including at least thunder behind radar group, left back radar group and the right side before just preceding radar group, just rear radar group, left front radar group, the right side
Up to group；Just preceding radar group includes at least one monitoring radar that front of the car is arranged in；Radar group includes being arranged in vehicle after just
At least one monitoring radar of rear end, left front radar group includes at least one monitoring radar that vehicle left front end is arranged in, before right
Radar group includes at least one monitoring radar that vehicle right front ends are arranged in, and left back radar group includes that the left back end of vehicle is arranged in
At least one monitors radar, and radar group includes at least one monitoring radar that vehicle right rear end is arranged in behind the right side.It is directed to as a result,
Different vehicle-states, should be arranged in correspondence with monitoring region, that is, corresponds to different vehicle-states and preset institute in radar monitoring group
The radar group for including is answered different, therefore, step S120, obtains the monitoring letter of the default radar monitoring group of corresponding vehicle-state
Number, it specifically includes:
When vehicle-state is still-mode, the monitoring signals of the static radar monitoring group of corresponding still-mode are obtained, it is quiet
Radar group before radar group, left front radar group and the right side before only radar monitoring group includes just；
When vehicle-state is reversing mode, the monitoring signals of the reverse radar monitoring group of corresponding reversing mode are obtained,
Vehicle radar monitoring group includes radar group and just rear radar group before just preceding radar group, left front radar group, the right side；
When vehicle-state is steering pattern, the monitoring signals of the steering radar monitoring group of corresponding steering pattern are obtained, are turned
Include radar group before just preceding radar group, left front radar group and the right side to radar monitoring group；
When vehicle-state is driving mode, the monitoring signals of the traveling radar monitoring group of corresponding driving mode, row are obtained
Sailing radar monitoring group includes just preceding radar group.
Embodiment two
For the vehicle of different driving status, the default radar monitoring group by the way that corresponding vehicle-state is arranged can specific aim
Ground provides early warning, however when default radar monitoring group is arranged, it will usually the mobile trend for considering vehicle, at mobile trend
Barrier is monitored, however, vehicle is under different vehicle-states, it is also desirable to which prevention is caused such as knocking into the back by other vehicles
Safety accident, therefore the embodiment of the present invention two additionally provides a kind of Radar for vehicle method for early warning, and Fig. 2 is that the embodiment of the present invention two mentions
A kind of flow chart of the Radar for vehicle method for early warning supplied, with reference to Fig. 2, which includes:
S210, vehicle-state is obtained in real time.
S220, the monitoring signals for corresponding to the default radar monitoring group of vehicle-state are obtained, it includes more for presetting radar monitoring group
At least one of a monitoring radar.
S230, determine vehicle at a distance from barrier according to the monitoring signals for presetting radar monitoring group.
S240, in real time by vehicle at a distance from barrier with default obstacle distance conditions correlation, in vehicle and barrier
Distance when reaching default obstacle distance condition, start early warning.
S250, the monitoring signals for obtaining back radars monitoring group.
Wherein, back radars monitoring group is used to monitor the rear area of vehicle, may include just rear radar group, left back radar
Radar group after combination is right realizes that the monitoring to rear view of vehicle region covers.
S260, determine vehicle at a distance from rear object according to the monitoring signals of back radars monitoring group；
S270, in real time by vehicle at a distance from rear object with default rear object distance condition compare, vehicle with after
When the distance of square object body reaches default rear object distance condition, start early warning.
Wherein, when reaching default rear object distance condition at a distance from rear object when vehicle, i.e. rear object active
When close to vehicle to pre-determined distance, early warning can star, which can be the early warning to this vehicle driver, preferably to rear
The early warning of vehicle, herein with no restrictions.
Radar for vehicle method for early warning provided by Embodiment 2 of the present invention, can be by obtaining vehicle-state, according to right in real time
The monitoring signals of the default radar monitoring group of vehicle-state are answered, the early warning of barrier is pointedly carried out, driver is prompted to carry out
Avoidance operation；The distance of rear object can also be monitored, by back radars monitoring group simultaneously to warn front vehicle to be kept away
Barrier operation, to realize early warning of the vehicle under different vehicle state to the barrier of different zones, ensure that the row of vehicle
Vehicle safety.
It should be noted that step S210-S240 execution is the method for carrying out barrier early warning according to vehicle-state, and
What step S250-S270 was then executed is the method for rear of vehicle object early warning, except the setting of step S250-S270 shown in Fig. 2 exists
Outside scheme after step S210-S240, can also by the method for rear of vehicle object early warning execute according to vehicle-state into
Before the method for row barrier early warning, or two method for early warning can also be executed parallel, the embodiment of the present invention is with no restrictions.
Embodiment three
The embodiment of the present invention three additionally provides a kind of Radar for vehicle method for early warning, and Fig. 3 is that the embodiment of the present invention three provides
A kind of flow chart of Radar for vehicle method for early warning, with reference to Fig. 3, which includes:
S310, vehicle-state is obtained in real time.
S320, the monitoring signals for corresponding to the default radar monitoring group of vehicle-state are obtained, it includes more for presetting radar monitoring group
At least one of a monitoring radar.
S330, determine vehicle at a distance from barrier according to the monitoring signals for presetting radar monitoring group.
S340, in real time by vehicle at a distance from barrier with default obstacle distance conditions correlation, in vehicle and barrier
Distance be lower than the first pre-determined distance value when, start primary warning；It is lower than the second pre-determined distance at a distance from barrier in vehicle
When value, start advanced early warning；Second pre-determined distance value is less than the first pre-determined distance value.
Wherein, the first pre-determined distance and the second pre-determined distance be respectively according to the barrier of actual danger grade classification away from
From illustratively, the first pre-determined distance can be 3 meters, and the second pre-determined distance can be 1 meter.Primary warning and advanced early warning are then
For the prediction policy of the different danger classes setting of correspondence, compared with primary warning, alarm signal is more strong for advanced early warning.
Specifically, when alarm mode is light early warning or vibration early warning, adjustable light flash frequency and vibration frequency are distinguished just
Grade early warning and advanced early warning；When alarm mode is sound early warning, sound size can be set to distinguish primary warning and advanced
Early warning.
Example IV
The embodiment of the present invention four additionally provides a kind of Radar for vehicle prior-warning device, and Fig. 4 is that the embodiment of the present invention four provides
A kind of structural schematic diagram of Radar for vehicle prior-warning device, with reference to Fig. 4, the Radar for vehicle prior-warning device be installed on surrounding be provided with it is more
On the vehicle of a monitoring radar, which includes: that vehicle-state obtains module 10, monitoring signals obtain module
20, distance obtains module 30 and warning module 40, and vehicle-state obtains module 10 for obtaining vehicle-state in real time；Monitoring signals
The monitoring signals that module 20 is used to obtain the default radar monitoring group of corresponding vehicle-state are obtained, it includes more for presetting radar monitoring group
At least one of a monitoring radar；Distance obtains module 30 and is used to determine vehicle according to the monitoring signals for presetting radar monitoring group
At a distance from barrier；Warning module 40 be used for by vehicle at a distance from barrier with default obstacle distance conditions correlation,
When vehicle reaches default obstacle distance condition at a distance from barrier, start early warning.
The Radar for vehicle prior-warning device that the embodiment of the present invention four provides obtains module by vehicle-state and obtains vehicle in real time
State, and obtain the monitoring signals that module obtains the default radar monitoring group of corresponding vehicle-state using monitoring signals, then by
Distance obtains module and determines vehicle at a distance from barrier according to the monitoring signals of default radar monitoring group, finally by early warning mould
Block in real time by vehicle at a distance from barrier with default obstacle distance conditions correlation, reach pre- at a distance from barrier in vehicle
If when obstacle distance condition, starting early warning, the Radar for vehicle prior-warning device that the embodiment of the present invention four provides can be according to specific
Ground vehicle-state carries out early warning, and the early warning alert for solving existing reversing radar early warning is single, and the early warning of surrounding setting radar
System easily leads to invalid early warning and increases, the excessively high problem of alert frequency, realizes the specific aim under different vehicle state and carries out in advance
Alert strategy improves the validity of early warning, improves the traffic safety of vehicle.
Optionally, vehicle-state includes at least still-mode, reversing mode, steering pattern and driving mode.
Further, thunder before radar group, just rear radar group, left front radar group, the right side before multiple monitoring radars include at least just
Radar group after up to group, left back radar group and the right side；Just preceding radar group includes at least one monitoring radar that front of the car is arranged in；Just
Radar group includes at least one monitoring radar that rear vehicle end is arranged in afterwards, and left front radar group includes that vehicle left front end is arranged in
At least one monitors radar, and radar group includes at least one monitoring radar that vehicle right front ends are arranged in, left back radar group before the right side
At least one monitoring radar including the left back end of vehicle is arranged in, it is right after radar group include at least one that vehicle right rear end is set
A monitoring radar；
Monitoring signals obtain the static radar that module is used to obtain corresponding still-mode when vehicle-state is still-mode
The monitoring signals of monitoring group, static radar monitoring group include radar group before just preceding radar group, left front radar group and the right side；
When vehicle-state is reversing mode, the monitoring signals of the reverse radar monitoring group of corresponding reversing mode are obtained,
Vehicle radar monitoring group includes radar group and just rear radar group before just preceding radar group, left front radar group, the right side；
When vehicle-state is steering pattern, the monitoring signals of the steering radar monitoring group of corresponding steering pattern are obtained, are turned
Include radar group before just preceding radar group, left front radar group and the right side to radar monitoring group；
When vehicle-state is driving mode, the monitoring signals of the traveling radar monitoring group of corresponding driving mode, row are obtained
Sailing radar monitoring group includes just preceding radar group.
Still optionally further, presetting radar monitoring group includes back radars monitoring group, back radars monitoring group include just after
Radar group behind radar group, left back radar group and the right side；Monitoring signals obtain the monitoring that module is also used to obtain back radars monitoring group
Signal；Distance obtains module and is also used to determine vehicle at a distance from rear object according to the monitoring signals of back radars monitoring group；
Warning module is also used in real time compare vehicle with default rear object distance condition at a distance from rear object, in vehicle with after
When the distance of square object body reaches default rear object distance condition, start early warning.
Optionally, when warning module is used to be lower than the second pre-determined distance value at a distance from barrier in vehicle, start advanced
Early warning；Second pre-determined distance value is less than the first pre-determined distance value.
Vehicle provided by any embodiment of the invention can be performed in Radar for vehicle prior-warning device provided by the embodiment of the present invention
Early radar warning method has and executes the corresponding functional module of Radar for vehicle method for early warning and beneficial effect.
Embodiment five
The embodiment of the present invention five additionally provides a kind of vehicle, and Fig. 5 is a kind of knot for vehicle that the embodiment of the present invention five provides
Structure schematic diagram, with reference to Fig. 5, which includes any one Radar for vehicle prior-warning device 100 described in the embodiment of the present invention four, also
Multiple monitoring radars 200 including vehicle's surroundings are arranged in.Wherein, which can be car, bus, trailer etc..
The vehicle that the embodiment of the present invention five provides, including Radar for vehicle prior-warning device provided in an embodiment of the present invention, have
Corresponding function and beneficial effect.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts, be combined with each other and substitutes without departing from protection scope of the present invention.Therefore, although by above embodiments to this
Invention is described in further detail, but the present invention is not limited to the above embodiments only, is not departing from present inventive concept
In the case of, it can also include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of Radar for vehicle method for early warning, which is characterized in that the vehicle's surroundings are provided with multiple monitoring radars, the vehicle
Early radar warning method includes:
Vehicle-state is obtained in real time；
The monitoring signals of the default radar monitoring group of the corresponding vehicle-state are obtained, the default radar monitoring group includes described
At least one of multiple monitoring radars；
Determine vehicle at a distance from barrier according to the monitoring signals of the default radar monitoring group；
In real time by the vehicle at a distance from barrier with default obstacle distance conditions correlation, in the vehicle and barrier
When distance reaches the default obstacle distance condition, start early warning.
2. Radar for vehicle method for early warning according to claim 1, which is characterized in that the vehicle-state includes at least static
Mode, reversing mode, steering pattern and driving mode.
3. Radar for vehicle method for early warning according to claim 2, which is characterized in that the multiple monitoring radar includes at least
Radar group behind radar group, left back radar group and the right side before just preceding radar group, just rear radar group, left front radar group, the right side；The just preceding thunder
It include at least one monitoring radar that the front of the car is set up to group；The just rear radar group includes being arranged in the vehicle
At least one monitoring radar of rear end, the left front radar group include at least one monitoring thunder that the vehicle left front end is arranged in
It reaches, radar group includes at least one monitoring radar that the vehicle right front ends are arranged in, the left back radar group packet before the right side
At least one monitoring radar that the left back end of the vehicle is set is included, radar group includes setting after the vehicle is right behind the right side
At least one monitoring radar at end；
The monitoring signals of the default radar monitoring group for obtaining the corresponding vehicle-state, comprising:
When the vehicle-state is still-mode, the monitoring signals of the static radar monitoring group of corresponding still-mode, institute are obtained
It states static radar monitoring group and includes radar group before just preceding radar group, left front radar group and the right side；
When the vehicle-state is reversing mode, the monitoring signals of the reverse radar monitoring group of corresponding reversing mode, institute are obtained
Stating reverse radar monitoring group includes radar group and just rear radar group before just preceding radar group, left front radar group, the right side；
When the vehicle-state is steering pattern, the monitoring signals of the steering radar monitoring group of corresponding steering pattern, institute are obtained
It states steering radar monitoring group and includes radar group before just preceding radar group, left front radar group and the right side；
When the vehicle-state is driving mode, the monitoring signals of the traveling radar monitoring group of corresponding driving mode, institute are obtained
Stating traveling radar monitoring group includes just preceding radar group.
4. Radar for vehicle method for early warning according to claim 2, which is characterized in that after the default radar monitoring group includes
Fanglei reaches monitoring group, and the back radars monitoring group includes radar group behind just rear radar group, left back radar group and the right side；
After the real-time acquisition vehicle-state, further includes:
The monitoring signals of the back radars monitoring group are obtained,
Determine vehicle at a distance from rear object according to the monitoring signals of the back radars monitoring group；
The vehicle is compared at a distance from rear object with default rear object distance condition in real time, at the vehicle and rear
When the distance of object reaches the default rear object distance condition, start early warning.
5. Radar for vehicle method for early warning according to claim 1, which is characterized in that described in the vehicle and barrier
When distance reaches default obstacle distance condition, start early warning, comprising:
When the vehicle is lower than the first pre-determined distance value at a distance from barrier, start primary warning；
When the vehicle is lower than the second pre-determined distance value at a distance from barrier, start advanced early warning；Described second it is default away from
It is less than the first pre-determined distance value from value.
6. a kind of Radar for vehicle prior-warning device, which is characterized in that the vehicle's surroundings are provided with multiple monitoring radars, the vehicle
Early radar warning device includes:
Vehicle-state obtains module, for obtaining vehicle-state in real time；
Monitoring signals obtain module, the monitoring signals of the default radar monitoring group for obtaining the corresponding vehicle-state, described
Default radar monitoring group includes at least one of the multiple monitoring radar；
Distance obtains module, for determining vehicle at a distance from barrier according to the monitoring signals of the default radar monitoring group；
Warning module, for by the vehicle at a distance from barrier with default obstacle distance conditions correlation, in the vehicle
With when reaching the default obstacle distance condition at a distance from barrier, start early warning.
7. Radar for vehicle prior-warning device according to claim 6, which is characterized in that the vehicle-state includes at least static
Mode, reversing mode, steering pattern and driving mode.
8. Radar for vehicle prior-warning device according to claim 7, which is characterized in that the multiple monitoring radar includes at least
Radar group behind radar group, left back radar group and the right side before just preceding radar group, just rear radar group, left front radar group, the right side；The just preceding thunder
It include at least one monitoring radar that the front of the car is set up to group；The just rear radar group includes being arranged in the vehicle
At least one monitoring radar of rear end, the left front radar group include at least one monitoring thunder that the vehicle left front end is arranged in
It reaches, radar group includes at least one monitoring radar that the vehicle right front ends are arranged in, the left back radar group packet before the right side
At least one monitoring radar that the left back end of the vehicle is set is included, radar group includes setting after the vehicle is right behind the right side
At least one monitoring radar at end；
The monitoring signals obtain module and are used to obtain the static of corresponding still-mode when the vehicle-state is still-mode
The monitoring signals of radar monitoring group, the static radar monitoring group include radar group before just preceding radar group, left front radar group and the right side；
When the vehicle-state is reversing mode, the monitoring signals of the reverse radar monitoring group of corresponding reversing mode, institute are obtained
Stating reverse radar monitoring group includes radar group and just rear radar group before just preceding radar group, left front radar group, the right side；
When the vehicle-state is steering pattern, the monitoring signals of the steering radar monitoring group of corresponding steering pattern, institute are obtained
It states steering radar monitoring group and includes radar group before just preceding radar group, left front radar group and the right side；
When the vehicle-state is driving mode, the monitoring signals of the traveling radar monitoring group of corresponding driving mode, institute are obtained
Stating traveling radar monitoring group includes just preceding radar group.
9. Radar for vehicle prior-warning device according to claim 7, which is characterized in that after the default radar monitoring group includes
Fanglei reaches monitoring group, and the back radars monitoring group includes radar group behind just rear radar group, left back radar group and the right side；
The monitoring signals obtain the monitoring signals that module is also used to obtain the back radars monitoring group；
The distance obtains module and is also used to determine vehicle and rear object according to the monitoring signals of the back radars monitoring group
Distance；
The warning module be also used in real time by the vehicle at a distance from rear object with default rear object distance condition pair
Than starting early warning when the vehicle reaches the default rear object distance condition at a distance from rear object.
10. a kind of vehicle, which is characterized in that including the Radar for vehicle prior-warning device as described in claim 6-9 is any, further include
Multiple monitoring radars of vehicle's surroundings are set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910194035.6A CN109870690A (en) | 2019-03-14 | 2019-03-14 | A kind of Radar for vehicle method for early warning, device and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910194035.6A CN109870690A (en) | 2019-03-14 | 2019-03-14 | A kind of Radar for vehicle method for early warning, device and vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109870690A true CN109870690A (en) | 2019-06-11 |
Family
ID=66920477
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910194035.6A Pending CN109870690A (en) | 2019-03-14 | 2019-03-14 | A kind of Radar for vehicle method for early warning, device and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109870690A (en) |
Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202623947U (en) * | 2012-06-14 | 2012-12-26 | 广州进强电子科技有限公司 | Safety system for vehicle |
| CN103407406A (en) * | 2013-07-26 | 2013-11-27 | 浙江吉利汽车研究院有限公司 | Security passing system and security prewarning method |
| CN204855800U (en) * | 2015-07-09 | 2015-12-09 | 北汽福田汽车股份有限公司 | Vehicular radar system |
| CN105835770A (en) * | 2015-01-15 | 2016-08-10 | 上海通用汽车有限公司 | Staged early warning system for vehicle |
| CN105882524A (en) * | 2016-03-28 | 2016-08-24 | 乐视控股（北京）有限公司 | Control method and device of driving assistance system |
| CN105957401A (en) * | 2016-06-08 | 2016-09-21 | 上海汽车集团股份有限公司 | Intersection pedestrian anti-collision method based on vehicle-road coordination and device thereof |
| CN206633904U (en) * | 2017-04-14 | 2017-11-14 | 南京工程学院 | The vehicle anticollision early warning system shown based on detections of radar and image |
| CN107458306A (en) * | 2017-07-28 | 2017-12-12 | 奇瑞汽车股份有限公司 | Vehicle safety method for early warning and device |
| CN107458361A (en) * | 2017-08-10 | 2017-12-12 | 南京超靖界智能科技有限公司 | Vehicle safety accessory system and its control method |
| CN107845291A (en) * | 2017-10-26 | 2018-03-27 | 中国外运大件物流有限公司 | The anti-collision early warning system of vehicle and the vehicle for including it |
| CN107972584A (en) * | 2017-11-23 | 2018-05-01 | 广东菲柯特电子科技有限公司 | Driving assistance system based on wireless radar and panoramic image |
| CN207488489U (en) * | 2017-10-19 | 2018-06-12 | 轩辕智驾科技（深圳）有限公司 | A kind of multifunction anti-collision early warning system based on millimetre-wave radar technology |
| CN108515934A (en) * | 2018-05-10 | 2018-09-11 | 芜湖航飞科技股份有限公司 | A kind of vehicle anti-collision early warning method and system based on more radars |
| CN108621932A (en) * | 2018-05-09 | 2018-10-09 | 上海浦兴路桥建设工程有限公司 | A kind of vehicle early warning reminding method and device |
| CN108919279A (en) * | 2018-05-14 | 2018-11-30 | 吉利汽车研究院（宁波）有限公司 | A kind of reversing radar obstruction warning method and system |
| CN109109800A (en) * | 2018-07-23 | 2019-01-01 | 威马智慧出行科技（上海）有限公司 | Car radar warning note method and device |
| CN110949251A (en) * | 2018-09-26 | 2020-04-03 | 江门浦泰轨道交通设备有限公司 | Vehicle safety monitoring method |
-
2019
- 2019-03-14 CN CN201910194035.6A patent/CN109870690A/en active Pending
Patent Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202623947U (en) * | 2012-06-14 | 2012-12-26 | 广州进强电子科技有限公司 | Safety system for vehicle |
| CN103407406A (en) * | 2013-07-26 | 2013-11-27 | 浙江吉利汽车研究院有限公司 | Security passing system and security prewarning method |
| CN105835770A (en) * | 2015-01-15 | 2016-08-10 | 上海通用汽车有限公司 | Staged early warning system for vehicle |
| CN204855800U (en) * | 2015-07-09 | 2015-12-09 | 北汽福田汽车股份有限公司 | Vehicular radar system |
| CN105882524A (en) * | 2016-03-28 | 2016-08-24 | 乐视控股（北京）有限公司 | Control method and device of driving assistance system |
| CN105957401A (en) * | 2016-06-08 | 2016-09-21 | 上海汽车集团股份有限公司 | Intersection pedestrian anti-collision method based on vehicle-road coordination and device thereof |
| CN206633904U (en) * | 2017-04-14 | 2017-11-14 | 南京工程学院 | The vehicle anticollision early warning system shown based on detections of radar and image |
| CN107458306A (en) * | 2017-07-28 | 2017-12-12 | 奇瑞汽车股份有限公司 | Vehicle safety method for early warning and device |
| CN107458361A (en) * | 2017-08-10 | 2017-12-12 | 南京超靖界智能科技有限公司 | Vehicle safety accessory system and its control method |
| CN207488489U (en) * | 2017-10-19 | 2018-06-12 | 轩辕智驾科技（深圳）有限公司 | A kind of multifunction anti-collision early warning system based on millimetre-wave radar technology |
| CN107845291A (en) * | 2017-10-26 | 2018-03-27 | 中国外运大件物流有限公司 | The anti-collision early warning system of vehicle and the vehicle for including it |
| CN107972584A (en) * | 2017-11-23 | 2018-05-01 | 广东菲柯特电子科技有限公司 | Driving assistance system based on wireless radar and panoramic image |
| CN108621932A (en) * | 2018-05-09 | 2018-10-09 | 上海浦兴路桥建设工程有限公司 | A kind of vehicle early warning reminding method and device |
| CN108515934A (en) * | 2018-05-10 | 2018-09-11 | 芜湖航飞科技股份有限公司 | A kind of vehicle anti-collision early warning method and system based on more radars |
| CN108919279A (en) * | 2018-05-14 | 2018-11-30 | 吉利汽车研究院（宁波）有限公司 | A kind of reversing radar obstruction warning method and system |
| CN109109800A (en) * | 2018-07-23 | 2019-01-01 | 威马智慧出行科技（上海）有限公司 | Car radar warning note method and device |
| CN110949251A (en) * | 2018-09-26 | 2020-04-03 | 江门浦泰轨道交通设备有限公司 | Vehicle safety monitoring method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10723365B2 (en) | Driving assistance device | |
| CN109131071B (en) | Automobile door opening danger warning system and method | |
| JP6136714B2 (en) | Vehicle control device | |
| US6859705B2 (en) | Method for operating a pre-crash sensing system with object classifier in a vehicle having a countermeasure system | |
| CN109870691A (en) | A kind of Radar for vehicle method for early warning, device and vehicle | |
| US10235887B2 (en) | Control system and method for assisting motor vehicles in safely pulling in after overtaking | |
| EP2523173B1 (en) | Driver assisting system and method for a motor vehicle | |
| US10410514B2 (en) | Display device for vehicle and display method for vehicle | |
| CN104786933A (en) | Panoramic image driving auxiliary device and panoramic image driving auxiliary method | |
| DE102004051365A1 (en) | Collision prediction unit for a vehicle | |
| CN103043021A (en) | Omni-directional automotive active safety system with integrated five-channel video detection function | |
| CN111731279B (en) | Method for realizing vehicle side protection by fusing side-view camera, vehicle-mounted equipment and vehicle | |
| KR20150021782A (en) | Back-sideways alarming system of vehicle and alarming control method of the same | |
| CN108482244A (en) | Automobile side-door active anti-corrosion method and system based on blind area radar | |
| CN109515319A (en) | A kind of heel row open alarm system and method | |
| US10068481B2 (en) | Vehicle-mounted peripheral object notification system, object notification system, and notification control apparatus | |
| US10618514B2 (en) | Method and apparatus for pedestrian collision mitigation | |
| CN108099906B (en) | Collision early warning system installed on automobile and automobile | |
| CN114312785A (en) | Lane changing auxiliary system and method for vehicle | |
| CN107804263B (en) | Incoming vehicle reminding method, vehicle body controller and vehicle | |
| CN202987040U (en) | Safety control system capable of avoiding vehicle rear collision actively | |
| CN109870690A (en) | A kind of Radar for vehicle method for early warning, device and vehicle | |
| CN112285716A (en) | Blind spot monitoring system alarm time length adjusting method, device, equipment and storage medium | |
| DE102016210470A1 (en) | Device and method for warning a driver of a vehicle | |
| CN110889409B (en) | Method, device, equipment and storage medium for monitoring and optimizing automobile radar |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190611 |
|
| RJ01 | Rejection of invention patent application after publication |