CN110275170A - A kind of the radar detection control method and vehicle of vehicle - Google Patents
A kind of the radar detection control method and vehicle of vehicle Download PDFInfo
- Publication number
- CN110275170A CN110275170A CN201810214864.1A CN201810214864A CN110275170A CN 110275170 A CN110275170 A CN 110275170A CN 201810214864 A CN201810214864 A CN 201810214864A CN 110275170 A CN110275170 A CN 110275170A
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- China
- Prior art keywords
- radar
- frequency range
- vehicle
- setting frequency
- range radar
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Classifications
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/537—Counter-measures or counter-counter-measures, e.g. jamming, anti-jamming
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The present invention relates to Radar for vehicle control technology field, the radar detection control method and vehicle of especially a kind of vehicle.The vehicle includes controller and one group of radar at least one direction of vehicle arrangement, and each group radar includes the radar of at least two frequency ranges；Controller controls the first setting frequency range radar and works and obtain the reception signal of the first setting frequency range radar, and controller judges whether the timing for receiving signal occurs mistake or failure；If mistake or failure occur for the timing for receiving signal, then controller controls the first setting frequency range radar and exits, open the second setting frequency range radar, avoid interference of the external signal to radar, the driving safety and applicability for improving vehicle solve the problems, such as that existing vehicle ultrasonic radar detection system poor anti jamming capability causes vehicle safety to reduce.
Description
Technical field
The present invention relates to Radar for vehicle control technology field, the radar detection control method and vehicle of especially a kind of vehicle
?.
Background technique
As urbanization process is constantly accelerated, city automobile ownership is increasing, and traffic congestion situation happens occasionally, and drives
The person of sailing jumps a queue in order to prevent, and following distance is very small, and due to objective and subjective reason, rear-end collision is frequent, and there is an urgent need to a kind of efficient
Reliable target monitoring means and equipment.Under the operating condition of city, Vehicle Speed is slower, and the distance of real-time detection does not need too
Far, and ultrasonic radar detection system has the advantages that at low cost, monitoring accuracy is high, it is low to require barrier, be a kind of relatively to close
Suitable detecting devices.
Many Ultrasonic Range Finder for Parking are installed, basic principle is visited using multiple ultrasonic waves above automobile
Head, but simultaneously can only a probe job, work in pulse mode, workflow is that a probe sends ultrasonic signal,
Generally continue several to more than ten waveform time；By taking 40KHZ as an example, about 0.1ms to 1ms is then turned off transmit circuit, waits
Ultrasonic echo signal.By calculating the time difference of transmitting signal and echo-signal, barrier is calculated at a distance from automobile.But its
Usually have certain problems, as ultrasonic probe can only taking turn work, cannot work at the same time, detection time is too long, Ge Getong
Road scan round, sweep time is long, and operating rate is low, greatly reduces the safety and applicability of vehicle；And common is super
Sound radar detection system works under a kind of frequency range, poor anti jamming capability.
Summary of the invention
The object of the present invention is to provide the radar detection control methods and vehicle of a kind of vehicle, super to solve existing vehicle
The problem of sound radar detection system poor anti jamming capability causes vehicle safety to reduce.
To achieve the above object, solving existing vehicle ultrasonic radar detection system poor anti jamming capability leads to vehicle safety
Property reduce the problem of, the present invention provides a kind of radar detection control method of vehicle, comprising the following steps:
1) one group of radar is arranged at least one direction all around of vehicle, each group radar includes at least two frequency ranges
Radar, control the first setting frequency range radar work；
2) the reception signal for obtaining the first setting frequency range radar, judge the timing for receiving signal whether occur it is wrong or
Failure；
If 3) mistake or failure occur for the timing for receiving signal, control the first setting frequency range radar and exit, opens
Second setting frequency range radar.
As a kind of improvement of the radar detection control method of vehicle provided by the invention, if the reception letter in step 3)
Number timing mistake or failure occurs, then control the first setting frequency range radar and stop sending signal, and judge the first setting frequency range
Whether radar receives interference signal；If it is not, then closing the first setting frequency range radar and controlling alarm, the second setting frequency range is opened
Radar；If so, the first setting frequency range radar of control exits, the second setting frequency range radar is opened.When radar breaks down, with
Warning note driver pays attention to Current vehicle conditions, improves the safety of driving.
As a kind of further improvement of the radar detection control method of vehicle provided by the invention, when the second setting frequency range
When mistake or failure occur for the reception signal sequence of radar, the second setting frequency range radar of control is exited, and opens the first setting frequency range
Radar.The mutual switching for realizing two frequency range radars avoids interference influence caused by vehicle safety, improves being applicable in for vehicle
Property.
As a kind of another step improvement of the radar detection control method of vehicle provided by the invention, if in vehicle in step 1)
Forward direction arrange one group of radar, also obtain vehicle current vehicle speed and current gear, when the current vehicle speed is set less than first
When constant speed angle value and current gear are forward gear, the first setting frequency range radar work of the forward direction of vehicle is controlled.Advance in vehicle
When open before to radar, reduce resource occupation, improve arithmetic speed, improve the safety of vehicle.
As a kind of further improvement of the radar detection control method of vehicle provided by the invention, if in step 1)
One group of radar of backward arrangement of vehicle also obtains the current vehicle speed and current gear of vehicle, when the current vehicle speed is less than second
When setting speed value and current gear are reverse gear, backward the first setting frequency range radar work of vehicle is controlled.After vehicle
Backward radar is opened when moving back, reduces resource occupation, is improved arithmetic speed, is improved the safety of vehicle.
Another as a kind of radar detection control method of vehicle provided by the invention improves, in vehicle in step 1)
Left side and/or right side arrange one group of radar.
The present invention also provides a kind of vehicle, including controller and the one group of radar arranged at least one direction of vehicle,
Each group radar includes the radar of at least two frequency ranges；The controller controls the first setting frequency range radar and works and obtain first
The reception signal of setting frequency range radar, the controller judge whether the timing for receiving signal occurs mistake or failure；If
Mistake or failure occur for the timing for receiving signal, then the controller controls the first setting frequency range radar and exits, and open the
Two setting frequency range radars.
As a kind of improvement of vehicle provided by the invention, if mistake or failure occur for the timing for receiving signal,
The controller, which controls the first setting frequency range radar, to be stopped sending signal, and it is dry to judge whether the first setting frequency range radar receives
Disturb signal；If it is not, then the controller closes the first setting frequency range radar and controls alarm, the second setting frequency range radar is opened；
It is exited if so, the controller controls the first setting frequency range radar, opens the second setting frequency range radar.
As a kind of further improvement of vehicle provided by the invention, when the reception signal sequence of the second setting frequency range radar
When mistake or failure occurs, the controller controls the second setting frequency range radar and exits, and opens the first setting frequency range radar.
It is described if the forward direction in vehicle arranges one group of radar as a kind of another step improvement of vehicle provided by the invention
Controller also obtains the current vehicle speed and current gear of vehicle, when the current vehicle speed is less than the first setting speed value and current shelves
When position is forward gear, the first setting frequency range radar work of the forward direction of the controller control vehicle.
As a kind of further improvement of vehicle provided by the invention, if in the rear to one group of radar of arrangement, institute of vehicle
Current vehicle speed and current gear that controller also obtains vehicle are stated, when the current vehicle speed is less than the second setting speed value and current
When gear is reverse gear, backward the first setting frequency range radar work of the controller control vehicle.
As a kind of another improvement of vehicle provided by the invention, one group is arranged in the left side of vehicle and/or right side
Radar.
As a kind of another improvement of vehicle provided by the invention, controller control left side and/or right side arrangement
The first setting frequency range radar and the work of the second setting frequency range radar, the controller obtains each reception signal of each frequency range radar
And judge whether each timing for receiving signal occurs mistake or failure；The timing for receiving signal if it exists occurs mistake or loses
Effect, then controller control frequency range radar corresponding with signal is received exits.
Detailed description of the invention
Fig. 1 is a kind of radar detection control method flow chart of vehicle of embodiment 1；
Fig. 2 is a kind of radar detection control method flow chart of vehicle of embodiment 2；
Fig. 3 is a kind of radar site structural schematic diagram of vehicle；
Fig. 4 is a kind of radar detection control method flow chart of vehicle of embodiment 3；
Fig. 5 is a kind of radar detection control method flow chart of vehicle of embodiment 4；
Fig. 6 is a kind of radar detection control method flow chart of vehicle of embodiment 5.
Specific embodiment
The present invention will be further described in detail with reference to the accompanying drawing.
The present invention provides a kind of vehicle, includes controller and radar-probing system in the vehicle, wherein the controller can be with
Being includes control unit and radar host computer, which connects radar-probing system to realize the function of radar detection and control
Can, and control unit can be the controller that vehicle itself has, such as entire car controller；Above controller is also possible to individually
Controller, which is directly connected to radar-probing system, realizes the control of radar-probing system, which can
It can be realized institute in the present invention with the new control device being arranged in the car depending on the application or for what is had in itself in vehicle
Need the controller of purposes.
Above-mentioned radar-probing system includes the radar of at least two frequency ranges, and wherein radar can be ultrasonic radar.This hair
Bright with controller includes control unit and radar host computer, and control unit is entire car controller, and radar is thunder for ultrasonic radar
It is communicatively coupled up to host and entire car controller, is equipped at least one direction of the four direction all around of vehicle
One group of ultrasonic radar, one group of ultrasonic radar include the ultrasonic radar probe of at least two frequency ranges, radar host computer connection
Above-mentioned each ultrasonic radar probe.
Embodiment 1
Corresponding function is realized in order to control the radar in above-mentioned vehicle, solves existing vehicle ultrasonic radar detection system
The problem of poor anti jamming capability causes vehicle safety to reduce, the present embodiment 1 provide a kind of radar detection control method of vehicle,
It is only illustrated by the way that the radar of two kinds of frequency ranges of A, B is arranged in the present embodiment 1, this approach includes the following steps, as shown in Figure 1:
1) radar return signal for obtaining A frequency range, judges whether the timing of the reception signal occurs mistake or failure.
Existing Radar Technology is applied herein, and whether the radar that analyzing should work normally is in normal transmitting-receiving work shape
State, when mistake or failure occur for the timing for receiving signal, it was demonstrated that radar itself is there are problem or by extraneous ultrasonic wave
The interference of signal.
If 2) mistake or failure occur for the timing for receiving signal, control A frequency range radar is exited, and opens B frequency range radar.
When there is mistake or failure, detections of radar is switched to B frequency range from A frequency range radar by controller control radar host
Radar, to enable ultrasonic radar normally to detect, improve anti-interference ability and improve vehicle safety performance.
Embodiment 2
On the basis of embodiment 1, in order to further analyze the failure cause of A frequency range radar and to different reasons
Different control is taken, as shown in Fig. 2, also carrying out following steps when receiving signal sequence generation mistake or failure:
1, control A frequency range radar stops sending signal, judges whether A frequency range radar receives interference signal.
It can not conclude that radar failure itself also suffers from the interference of extraneous ultrasonic signal herein, therefore, close A frequency
The transmitting terminal of Duan Leida stops sending signal, judges whether the radar still is able to receive ultrasonic signal.
2, if so, closing A frequency range radar, B frequency range radar is opened.
If radar still is able to receive ultrasonic signal, then determine that there is interference signal in the external world, radar itself does not have temporarily
Problem, it is therefore desirable to be switched to B frequency range radar, make it replace existing A frequency range radar work, solve the problems, such as the interference of radar.
If radar does not receive ultrasonic signal, then it is assumed that radar itself breaks down, and can not work normally, therefore needs
Service work is carried out, radar system is closed and controls alarm, driver is made to notice the radar system problem, guarantees vehicle row
Sail safety.
3, it when the reception signal sequence generation mistake of B frequency range radar or failure, and can be received after stopping sending signal
When to interference signal, B frequency range radar is closed, and open A frequency range radar.
Likewise, switching back into A frequency range radar or B frequency range if the problem of with A frequency range radar occurs in B frequency range radar
Radar breaks down, then closes radar system and control alarm.
Embodiment 3
The present embodiment 3 is chosen at Xiang Leida before above-mentioned one group of the forward direction installation of vehicle, before each on the basis of embodiment 2
On the front wall bumper for being installed on vehicle to radar probe group, the output end of each forward direction radar probe of each frequency range connects radar master
Machine.As shown in figure 3, Xiang Leida before Xiang Leida before being provided with one group on front wall bumper, including 4 couples, each pair of forward direction radar include
The forward direction radar probe of two frequency ranges, Fu1 are preceding to A frequency range radar probe, and Fu2 is preceding to B frequency range radar probe.
The control method of corresponding the present embodiment 3 joined corresponding information also according to demand, for realizing radar whether
The decision problem of work.By the vehicle present speed and gear information in above-mentioned entire car controller, judge that driver works as cause
To the demand of radar under condition.
As shown in figure 4, passing through the communication connection of radar host computer and entire car controller, obtains the current vehicle speed of vehicle and work as
Preceding gear information.
When current vehicle speed is less than the first setting speed value and current gear is forward gear, the A frequency of the forward direction of vehicle is controlled
Duan Leida B frequency range radar is opened.
It is existing when vehicle is to advance if vehicle is both provided with ultrasonic radar in remaining direction according to drive demand
In the radar probe without opening other directions, resource and operation are saved, a speed of setting is only less than in car speed
When value, it is believed that vehicle front there may be barrier, so before starting to radar probe work, realize and drive auxiliary
Function.
Embodiment 4
On this basis, the demand according to client to vehicle, as an improvement, the present embodiment 4 embodiment 2 or
A kind of vehicle of backward radar of band is also provided on the basis of embodiment 3, each backward radar probe group is installed on the rear insurance of vehicle
On thick stick, the output end of each backward radar probe of each frequency range connects radar host computer.As shown in figure 3, being provided with one on rear bumper
Xiang Leida after 4 pairs of group, each pair of backward radar include the forward direction radar probe of two frequency ranges, Fu11 be after to A frequency range radar probe,
Fu21 be after to B frequency range radar probe.
And on the basis of the improvement of control method is exactly the method in embodiment 2 or embodiment 3, in embodiment 2
On the basis of for, as shown in figure 5, when current vehicle speed is less than the second setting speed value and current gear is reverse gear, control
The backward A frequency range radar or B frequency range radar of vehicle are opened.It can be by above-mentioned first setting speed value and the second setting speed value
It is set as identical value.
It is existing when vehicle is reversing if vehicle is both provided with ultrasonic radar in remaining direction according to drive demand
In the radar probe without opening other directions, to save resource and operation, a speed of setting is only less than in car speed
When angle value, it is believed that there may be barriers for rear of vehicle, so the radar probe work that starting is backward, realizes and drive auxiliary
Function.
Embodiment 5
It is right also to provide a kind of band on the basis of embodiment 1, embodiment 2, embodiment 3 or embodiment 4 for the present embodiment 5
The vehicle of side and/or right side radar, below control method be mainly described further with improvement on the basis of embodiment 1,
And the installation of radar, as shown in figure 3, further include one group of right side radar on the right side of the vehicle body of vehicle, each frequency range in radar on the right side of the group
Radar probe alternately be installed on the inclined lower body in right side of vehicle；It further include one group of left side radar on the left of the vehicle body of vehicle,
The radar probe of each frequency range is alternately installed on the inclined lower body in left side of vehicle in radar on the left of the group.It is chosen in one group of radar
The radar probe of at least two frequency ranges, the present embodiment 5 is still illustrated with two kinds of frequency range probes of A, B, according to vehicle commander, alternating cloth
Appropriate number of A frequency range radar probe and B frequency range radar probe are set, in the lower part of the right side bodies of vehicle, realizes A frequency range
Radar probe and B frequency range radar work independently, and do not interfere with each other, and reduce the entire scan time of system, improve work
Make rate limitation.
It for the radar of the left and right sides, can work according to the corresponding working method of method in embodiment 1, remove this
Except, as shown in fig. 6, under normal circumstances, A frequency range radar can also be scanned independently with B frequency range radar, shorten entire scan
Time, operating rate is high, A frequency range or B frequency range radar are then closed when perhaps B frequency range radar receives interference to A frequency range, and
Reduce operating rate, reporting system.System starting logic or alarming logic, which can also be added, turns to modulating signal, detecting distance letter
Number, the signals such as functional switch, avoid frequently alarming.
Specific embodiment of the present invention is presented above, but the present invention is not limited to described embodiment.
Under the thinking that the present invention provides, to the skill in above-described embodiment by the way of being readily apparent that those skilled in the art
Art means are converted, are replaced, are modified, and play the role of with the present invention in relevant art means it is essentially identical, realize
Goal of the invention it is also essentially identical, the technical solution formed in this way is to be finely adjusted to be formed to above-described embodiment, this technology
Scheme is still fallen in protection scope of the present invention.
Claims (10)
1. a kind of radar detection control method of vehicle, which comprises the following steps:
1) one group of radar is arranged at least one direction all around of vehicle, each group radar includes the thunder of at least two frequency ranges
It reaches, control the first setting frequency range radar work；
2) the reception signal for obtaining the first setting frequency range radar, judges whether the timing for receiving signal occurs mistake or lose
Effect；
If 3) mistake or failure occur for the timing for receiving signal, control the first setting frequency range radar and exit, opens second
Setting frequency range radar.
2. the radar detection control method of vehicle according to claim 1, which is characterized in that if the reception in step 3)
Mistake or failure occur for the timing of signal, then control the first setting frequency range radar and stop sending signal, and judge the first setting frequency
Whether Duan Leida receives interference signal；If it is not, then closing the first setting frequency range radar and controlling alarm, the second setting frequency is opened
Duan Leida；If so, the first setting frequency range radar of control exits, the second setting frequency range radar is opened.
3. the radar detection control method of vehicle according to claim 2, which is characterized in that when the second setting frequency range radar
Reception signal sequence occur mistake or failure when, control the second setting frequency range radar exit, open the first setting frequency range radar.
4. the radar detection control method of vehicle according to claim 3, which is characterized in that if in vehicle in step 1)
Forward direction arranges one group of radar, also obtains the current vehicle speed and current gear of vehicle, when the current vehicle speed is less than the first setting speed
When angle value and current gear are forward gear, the first setting frequency range radar work of the forward direction of vehicle is controlled.
5. a kind of vehicle, which is characterized in that including controller and the one group of radar arranged at least one direction of vehicle, each group
Radar includes the radar of at least two frequency ranges；The controller controls the first setting frequency range radar and works and obtain the first setting
The reception signal of frequency range radar, the controller judge whether the timing for receiving signal occurs mistake or failure；If described
Mistake or failure occur for the timing for receiving signal, then the controller controls the first setting frequency range radar and exits, and open second and set
Determine frequency range radar.
6. vehicle according to claim 5, which is characterized in that if mistake or failure occur for the timing for receiving signal,
Then the controller controls the first setting frequency range radar and stops sending signal, and judges whether the first setting frequency range radar receives
Interference signal；If it is not, then the controller closes the first setting frequency range radar and controls alarm, the second setting frequency range thunder is opened
It reaches；It is exited if so, the controller controls the first setting frequency range radar, opens the second setting frequency range radar.
7. vehicle according to claim 6, which is characterized in that when the reception signal sequence of the second setting frequency range radar occurs
When mistake or failure, the controller controls the second setting frequency range radar and exits, and opens the first setting frequency range radar.
8. vehicle according to claim 7, which is characterized in that if the forward direction in vehicle arranges one group of radar, the control
Device also obtains the current vehicle speed and current gear of vehicle, when the current vehicle speed is less than the first setting speed value and current gear is
When forward gear, the first setting frequency range radar work of the forward direction of the controller control vehicle.
9. vehicle according to claim 5, which is characterized in that arrange one group of radar on the left side of vehicle and/or right side.
10. vehicle according to claim 9, which is characterized in that the of controller control left side and/or right side arrangement
One setting frequency range radar and the work of the second setting frequency range radar, the controller obtain each reception signal of each frequency range radar and sentence
Whether each timing for receiving signal of breaking occurs mistake or failure；Mistake or failure occur for the timing for receiving signal if it exists,
Then controller control frequency range radar corresponding with signal is received exits.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810214864.1A CN110275170B (en) | 2018-03-15 | 2018-03-15 | Radar detection control method for vehicle and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810214864.1A CN110275170B (en) | 2018-03-15 | 2018-03-15 | Radar detection control method for vehicle and vehicle |
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| CN110275170A true CN110275170A (en) | 2019-09-24 |
| CN110275170B CN110275170B (en) | 2021-12-03 |
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| CN201810214864.1A Active CN110275170B (en) | 2018-03-15 | 2018-03-15 | Radar detection control method for vehicle and vehicle |
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Cited By (1)
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| CN111586566A (en) * | 2020-05-21 | 2020-08-25 | 广州小鹏车联网科技有限公司 | Communication time slot allocation method and device and server |
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| DE102004032262A1 (en) * | 2004-07-03 | 2006-01-19 | Robert Bosch Gmbh | Echo signal validating method for parking distance control system, involves evaluating current echo signal distance information based on previous signal for affecting parameters, and validating current signal, if parameters have one value |
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| JP2015224899A (en) * | 2014-05-26 | 2015-12-14 | 株式会社デンソー | On-vehicle radar system |
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| CN111586566A (en) * | 2020-05-21 | 2020-08-25 | 广州小鹏车联网科技有限公司 | Communication time slot allocation method and device and server |
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