CN110497895A - A kind of vehicle collision prevention method and device - Google Patents
A kind of vehicle collision prevention method and device Download PDFInfo
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- CN110497895A CN110497895A CN201910809588.8A CN201910809588A CN110497895A CN 110497895 A CN110497895 A CN 110497895A CN 201910809588 A CN201910809588 A CN 201910809588A CN 110497895 A CN110497895 A CN 110497895A
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
-
- 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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/58—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration responsive to speed and another condition or to plural speed conditions
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/36—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
-
- 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
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
- G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Power Engineering (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The present invention provides a kind of vehicle collision prevention method and devices, method includes: the first relative distance and the first relative velocity for receiving the vehicle that detects of millimetre-wave radar relative to front obstacle, the second relative distance and the second relative velocity that laser range finder detects；And the real-time speed of vehicle that vehicle speed measurement instrument detects；If the first relative distance is greater than pre-set distance threshold and the first relative velocity is greater than zero, the first alarm command, the driver of early warning vehicle are generated according to the first relative distance, the first relative velocity and real-time speed；If the first relative distance is no more than pre-set distance threshold and the first relative velocity is greater than zero, obtain the smaller value in the first relative distance and the second relative distance, the second alarm command, the driver of vehicle described in early warning are generated according to smaller value, the first relative velocity and real-time speed.The probability that vehicle collides can be effectively reduced, improve collision prevention efficiency.
Description
Technical field
The present invention relates to safe driving of vehicle technical fields, in particular to a kind of vehicle collision prevention method and device.
Background technique
With the rapid development of our country's economy, vehicle has become the main means of transport of family's outgoing.And family's vehicle
Ownership be continuously increased, expedited the emergence of the new hand of a large amount of shortage driving experiences so that in driving procedure, after front truck deceleration,
It is easy to appear vehicle and front truck collides equal traffic accidents.
Currently, avoiding the collision with front truck from mainly utilizing the millimetre-wave radar installed on vehicle, millimeter in driving procedure
When monitoring that Ben Che is less than pre-set safety distance threshold at a distance from front truck, determination presence collides wave radar
Danger is sounded an alarm to driver, so that driver takes anticollision measure in time.
But the vehicle collision prevention method, millimetre-wave radar carry out collision-avoidance warning, but millimeter wave according to Ben Che at a distance from front truck
For radar when the relative distance of vehicle and front truck is smaller, millimetre-wave radar, which carries out distance measurement, can have blind area, so that closely
When relative distance detection accuracy it is lower, it is poor so as to cause collision prevention efficiency, cannot be effectively reduced vehicle generation collision.
Summary of the invention
In view of this, the purpose of the present invention is to provide vehicle collision prevention method and device, collided with to reduce vehicle
Probability improves collision prevention efficiency.
In a first aspect, the embodiment of the invention provides vehicle anticollision devices, comprising: millimetre-wave radar, laser range finder, vehicle
Fast measuring instrument and electrical control mechanism, wherein
The quantity of millimetre-wave radar, brake actuator and vehicle speed measurement instrument is 1, and the quantity of laser range finder is 2, milli
Metre wave radar, laser range finder and vehicle speed measurement instrument are connected by wirning harness is respectively connected to electrical control mechanism；
Millimetre-wave radar is mounted on the intermediate region of the preceding air inlet net of vehicle, and laser range finder is respectively symmetrically mounted on millimeter
The left and right sides of wave radar, vehicle speed measurement instrument are mounted at a distance of the region of the predetermined first distance of vehicular transmission shaft, electrical control mechanism peace
In driver's cabin；
Millimetre-wave radar emits millimeter-wave signal for barrier forwards, receives what the front obstacle was reflected back
Millimeter reflection wave signal determines the vehicle relative to described according to the millimeter-wave signal and the millimeter reflection wave signal
The first relative distance and the first relative velocity of front obstacle, first relative distance and the first relative velocity is defeated
Out to electrical control mechanism；
Laser range finder receives the front obstacle and is reflected back for emitting laser signal to the front obstacle
Laser reflection signal determine the vehicle relative to the front according to the laser signal and the laser reflection signal
The second relative distance and the second relative velocity of barrier, by second relative distance and the second relative velocity export to
Electrical control mechanism；
Vehicle speed measurement instrument exports the real-time speed that measurement obtains to electrical control mechanism for measuring the real-time speed of vehicle；
Electrical control mechanism, if being greater than pre-set distance threshold and described first relatively for first relative distance
Speed is greater than zero, generates the first alarm command according to first relative distance, the first relative velocity and the real-time speed, in advance
The driver of the alert vehicle, so that the driver brakes according to first alarm command；
If first relative distance is no more than pre-set distance threshold and first relative velocity is greater than zero,
The smaller value in first relative distance and second relative distance is obtained, according to the smaller value, the first relative velocity
The second alarm command is generated with the real-time speed, the driver of vehicle described in early warning, so that the driver is according to described the
Two alarm commands are braked.
With reference to first aspect, the embodiment of the invention provides the first possible embodiments of first aspect, wherein institute
Electrical control mechanism is stated to be also used to:
Show first relative distance, the second relative distance, real-time speed；
After generating alarm command, voice/sound alarm is carried out, and, according to the alarm command, brake the vehicle
The output of driving, the alarm command include the first alarm command and the second alarm command.
With reference to first aspect, the embodiment of the invention provides second of possible embodiments of first aspect, wherein also
Include:
Brake actuator, quantity 1 are connected with brake actuator by wirning harness, are mounted at a distance of vehicle braking
The region of the predetermined second distance of pedal；
The electrical control mechanism is also used to after generating alarm command, monitors the driver in the alarm command pair
The alarm command that has no basis in the control time answered is braked, and the alarm command is exported to the braking execution machine
Structure, so that the brake actuator is braked according to the alarm command, the alarm command includes the first alarm command
With the second alarm command.
With reference to first aspect, the first or second of possible embodiment of first aspect, the embodiment of the present invention provide
The third possible embodiment of first aspect, wherein the millimetre-wave radar includes: radar transceiver, modulated signal
Generator, difference frequency signal preprocessor, analog-digital converter, the digital signal processor based on field programmable gate array, wherein
Modulation signal generator, the triangle wave direction radar transceiver output for being used to modulate for that will generate；
Radar transceiver, for hindering the linear FM signal of the radio-frequency range generated according to received triangular wave forwards
Object is hindered to emit, the echo-signal that linear FM signal and the linear FM signal of transmitting are reflected by front obstacle is defeated
Out to difference frequency signal preprocessor；
Difference frequency signal preprocessor, for being obtained after received echo-signal is carried out Frequency mixing processing with linear FM signal
Difference frequency signal export to analog-digital converter；
Analog-digital converter, the number for obtain after analog-to-digital conversion and digital filtering to received difference frequency signal
Signal is exported to the digital signal processor based on FPGA；
Digital signal processor based on FPGA, the vehicle for that will be handled using digital signal are opposite
It exports in the first relative distance of the front obstacle to electrical control mechanism.
The third possible embodiment with reference to first aspect, the embodiment of the invention provides the 4th kind of first aspect
Possible embodiment, wherein the millimetre-wave radar further include:
Modulated signal adjuster, triangular wave progress amplitude and frequency for exporting to modulation signal generator are defeated after adjusting
Out to radar transceiver.
The third possible embodiment with reference to first aspect, the embodiment of the invention provides the 5th kind of first aspect
Possible embodiment, wherein the modulation signal generator includes: oscillating integrated circuit, first capacitor, the second capacitor,
Three capacitors, the 4th capacitor, first resistor, second resistance, 3rd resistor, the 4th resistance, the 5th resistance, the 6th resistance, the 7th electricity
Resistance, the 8th resistance, the 9th resistance and the tenth resistance, wherein
One end of 8th resistance is connected with the anode of predetermined first voltage, and the other end is connected with one end of the 6th resistance；
The other end of 6th resistance is connected with the cathode of predetermined first voltage；
One end of first capacitor is connected with the anode of predetermined first voltage, the 8th pin of the other end and oscillating integrated circuit
It is connected, the 8th pin is also movably attached on the 8th resistance；
One end of second capacitor is connected with the tenth pin of oscillating integrated circuit, the cathode of the other end and predetermined first voltage
It is connected；
4th pin of oscillating integrated circuit is connected with one end of first resistor, the other end of first resistor and the 7th resistance
One end be connected, the other end of the 7th resistance is connected with one end of second resistance, and the other end of second resistance and oscillation are integrated electric
5th pin on road is connected, and the anode of predetermined first voltage is movably attached on the 7th resistance；
6th pin of oscillating integrated circuit is connected with the anode of predetermined first voltage；
9th pin of oscillating integrated circuit is connected with one end of 3rd resistor and exports square wave, the other end of 3rd resistor
It is connected with the anode of predetermined first voltage；
The third pin of oscillating integrated circuit exports triangular wave；
Second pin of oscillating integrated circuit exports sine wave；
11st pin of oscillating integrated circuit is connected with the cathode of predetermined first voltage；
First pin of oscillating integrated circuit is connected with one end of third capacitor, the other end of third capacitor and predetermined first
The cathode of voltage is connected；
First pin of oscillating integrated circuit is also movably attached on the 9th resistance；
One end of 9th resistance is connected with the cathode of predetermined first voltage, and the other end is connected with one end of the 4th resistance；
The other end of 4th resistance is connected with one end of the anode of predetermined first voltage and the 5th resistance respectively；
The other end of 5th resistance is connected with one end of one end of the tenth resistance；
The other end of tenth resistance is connected with the cathode of one end of the 4th capacitor and predetermined first voltage respectively；
The other end of 12nd pin and the 4th capacitor of oscillating integrated circuit, is also movably attached on the tenth resistance.
The 4th kind of possible embodiment with reference to first aspect, the embodiment of the invention provides the 6th kind of first aspect
Possible embodiment, wherein the modulated signal adjuster include: eleventh resistor, twelfth resistor, thirteenth resistor,
14th resistance, the 15th resistance, the 16th resistance, the 17th resistance, the 18th resistance, the first transport and placing device and the 5th electricity
Hold, wherein
One end of eleventh resistor is connected with the anode of predetermined first voltage, one end phase of the other end and the 16th resistance
Even；
The other end of 16th resistance is grounded；
Triangular wave is accessed in one end of thirteenth resistor, and the other end is connected with one end of the 17th resistance；
The other end of 17th resistance is grounded；
The third end of first transport and placing device is connected with one end of twelfth resistor and the 14th resistance respectively, twelfth resistor
The other end movably connect on the 16th resistance；
The other end of 14th resistance is connected with one end of the 5th capacitor, and the other end of the 5th capacitor movably connects the tenth
On seven resistance；
The second end of first transport and placing device is connected with one end of the 15th resistance and the 18th resistance respectively, also movably connects
On the 18th resistance, the other end of the 15th resistance is grounded, the other end of the 18th resistance and the first end of the first transport and placing device
It is connected, the first end of the first transport and placing device is output end；
8th end of the first transport and placing device is connected with the anode of predetermined first voltage, the cathode at the 4th end and predetermined first voltage
It is connected.
Second aspect, the embodiment of the invention also provides a kind of vehicle collision prevention methods, comprising:
First relative distance and first phase of the vehicle that reception millimetre-wave radar detects relative to front obstacle
To speed；
Receive the vehicle that detects of laser range finder relative to the front obstacle the second relative distance with
And second relative velocity；
Receive the real-time speed for the vehicle that vehicle speed measurement instrument detects；
If first relative distance is greater than pre-set distance threshold and first relative velocity is greater than zero, according to
The first alarm command is generated according to first relative distance, the first relative velocity and the real-time speed, vehicle described in early warning
Driver, so that the driver brakes according to first alarm command；
If first relative distance is no more than pre-set distance threshold and first relative velocity is greater than zero,
The smaller value in first relative distance and second relative distance is obtained, according to the smaller value, the first relative velocity
The second alarm command is generated with the real-time speed, the driver of vehicle described in early warning, so that the driver is according to described the
Two alarm commands are braked.
The third aspect, the embodiment of the present application provide a kind of computer equipment, including memory, processor and are stored in institute
The computer program that can be run on memory and on the processor is stated, the processor executes real when the computer program
The step of existing above method.
Fourth aspect, the embodiment of the present application provide a kind of computer readable storage medium, the computer-readable storage
Computer program is stored on medium, the computer program executes above-mentioned method when being run by processor the step of.
The method and device of vehicle collision prevention provided in an embodiment of the present invention, the vehicle detected by receiving millimetre-wave radar
The first relative distance and the first relative velocity relative to front obstacle；Reception laser range finder detects described
Second relative distance and second relative velocity of the vehicle relative to the front obstacle；Vehicle speed measurement instrument is received to detect to obtain
The vehicle real-time speed；If first relative distance is greater than pre-set distance threshold and described first relatively
Speed is greater than zero, generates the first alarm command according to first relative distance, the first relative velocity and the real-time speed, in advance
The driver of the alert vehicle, so that the driver brakes according to first alarm command；If described first is opposite
Distance is no more than pre-set distance threshold and first relative velocity is greater than zero, obtain first relative distance and
Smaller value in second relative distance generates second according to the smaller value, the first relative velocity and the real-time speed
Alarm command, the driver of vehicle described in early warning, so that the driver brakes according to second alarm command.This
Sample by the monitoring of millimetre-wave radar and laser range finder and vehicle speed measurement instrument, and will test information and export to electrical control mechanism
Carry out information processing, when detect vehicle have with front obstacle occur rear-end impact accident danger when, remind driver and
When take collision prevention measure, to avoid the generation of rear-end impact accident, reduce the probability that vehicle collides, improve collision prevention effect
Rate.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows vehicle anticollision device structural schematic diagram provided by the embodiment of the present invention；
Fig. 2 shows millimetre-wave radar structural schematic diagrams provided by the embodiment of the present invention；
Fig. 3 shows transmitting signal provided by the embodiment of the present invention and receives the frequency variation schematic diagram of signal；
When Fig. 4 shows front obstacle provided by the embodiment of the present invention and millimetre-wave radar relative motion, transmitting letter
Number, receive the frequency and the schematic diagram of time of signal and difference frequency signal；
Fig. 5 shows the electrical block diagram of modulation signal generator provided by the embodiment of the present invention；
Fig. 6 shows the electrical block diagram of modulated signal adjuster provided by the embodiment of the present invention；
Fig. 7 shows the electrical block diagram of bivalent high-pass filter provided by the embodiment of the present invention；
Fig. 8 shows the electrical block diagram of gain adjustment circuit provided by the embodiment of the present invention；
Fig. 9 shows the electrical block diagram of frequency overlapped-resistable filter provided by the embodiment of the present invention；
Figure 10 shows vehicle collision prevention method flow schematic diagram provided by the embodiment of the present invention；
Figure 11 is a kind of structural schematic diagram of computer equipment 110 provided by the embodiments of the present application.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
Middle attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is a part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is real
The component for applying example can be arranged and be designed with a variety of different configurations.Therefore, of the invention to what is provided in the accompanying drawings below
The detailed description of embodiment is not intended to limit the range of claimed invention, but is merely representative of selected reality of the invention
Apply example.Based on the embodiment of the present invention, those skilled in the art institute obtained without making creative work
There are other embodiments, shall fall within the protection scope of the present invention.
The embodiment of the invention provides a kind of vehicle collision prevention method and apparatus, are described below by embodiment.
Fig. 1 shows vehicle anticollision device structural schematic diagram provided by the embodiment of the present invention.As shown in Figure 1, of the invention
In embodiment, vehicle anticollision device includes: millimetre-wave radar 11, laser range finder 12, vehicle speed measurement instrument 13 and electrical control mechanism
14, wherein
The quantity of millimetre-wave radar 11, brake actuator 13 and vehicle speed measurement instrument 14 is 1, the number of laser range finder 12
Amount is 2, and millimetre-wave radar 11, laser range finder 12 and vehicle speed measurement instrument 13 are connected by wirning harness is respectively connected to automatically controlled machine
Structure 14；
Millimetre-wave radar 11 is mounted on the intermediate region of the preceding air inlet net of vehicle, and laser range finder 12 is respectively symmetrically mounted on
The left and right sides of millimetre-wave radar 11, vehicle speed measurement instrument 13 are mounted at a distance of the region of the predetermined first distance of vehicular transmission shaft, electricity
Control mechanism 14 is mounted in driver's cabin；
Millimetre-wave radar 11 emits millimeter-wave signal for barrier forwards, receives the front obstacle and be reflected back
Millimeter reflection wave signal determine the vehicle relative to institute according to the millimeter-wave signal and the millimeter reflection wave signal
The first relative distance and the first relative velocity for stating front obstacle, by first relative distance and the first relative velocity
It exports to electrical control mechanism 14；
Laser range finder 12 receives the front obstacle reflection for emitting laser signal to the front obstacle
The laser reflection signal returned determines the vehicle relative to before described according to the laser signal and the laser reflection signal
The second relative distance and the second relative velocity of square barrier export second relative distance and the second relative velocity
To electrical control mechanism 14；
Vehicle speed measurement instrument 13 exports the real-time speed that measurement obtains to automatically controlled machine for measuring the real-time speed of vehicle
Structure 14；
Electrical control mechanism 14, if being greater than pre-set distance threshold and first phase for first relative distance
Zero is greater than to speed, generates the first alarm command according to first relative distance, the first relative velocity and the real-time speed,
The driver of vehicle described in early warning, so that the driver brakes according to first alarm command；
If first relative distance is no more than pre-set distance threshold and first relative velocity is greater than zero,
The smaller value in first relative distance and second relative distance is obtained, according to the smaller value, the first relative velocity
The second alarm command is generated with the real-time speed, the driver of vehicle described in early warning, so that the driver is according to described the
Two alarm commands are braked.
In the embodiment of the present invention, driver realizes the automatic braking of vehicle according to alarm command, and vehicle is avoided to collide
Accident.Alarm command can be divided into multistage instruction, for example, if first relative distance is larger but be less than safe distance and the
One relative velocity is positive the speed of front obstacle (car speed be greater than) and smaller, defines that danger level is smaller, and the of generation
The driver that one alarm command can be instruction vehicle needs slightly to slow down；If first relative distance is larger and first is opposite
Speed is positive and larger, defines during danger level is, the first alarm command of generation can be driver's needs of instruction vehicle
Under vehicle speed retardation to a certain speed；If second relative distance is smaller and the first relative velocity is positive and smaller,
Definition danger level is larger, and the driver that the second alarm command of generation can be instruction vehicle needs to slow down at once；If described
Second relative distance is smaller and speed is positive and larger in real time, and the second alarm command of generation can be the driving of instruction vehicle
Member needs to slow down at once and carry out emergency braking.
In the embodiment of the present invention, using the first relative distance of millimetre-wave radar detection front obstacle and vehicle, millimeter
Wave radar penetrating fog, cigarette, the ability of dust are strong, and small, precision height is influenced by natural light and infrared source, are suitable for visiting at a distance
It surveys, there are blind area, low precision in when short distance；Meanwhile using laser range finder detect front obstacle and vehicle second it is opposite away from
From laser range finder strong antijamming capability is at low cost, is suitable for proximity detection.Thus, in conjunction with millimetre-wave radar and laser
Rangefinder detects the relative distance of front obstacle and vehicle, can be realized the distance measurement within the scope of full distance, from
And range of lift detection accuracy, control for brake is carried out according to detection range with high accuracy, vehicle can be effectively reduced and collide
Probability, improve collision prevention efficiency.
In the embodiment of the present invention, as an alternative embodiment, electrical control mechanism is also used to:
Show first relative distance, the second relative distance, the first relative velocity, the second relative velocity, real-time speed；
After generating alarm command, voice/sound alarm is carried out, and, according to the alarm command, brake the vehicle
The output of driving, the alarm command include the first alarm command and the second alarm command.
In the embodiment of the present invention, electrical control mechanism has information display function and voice/sound warning function.
In the embodiment of the present invention, millimetre-wave radar and laser range finder are combined, for detecting front obstacle and vehicle
Relative distance.
In the embodiment of the present invention, as an alternative embodiment, the vehicle anticollision device further include:
Brake actuator 15, quantity 1 are connected with brake actuator by wirning harness, are mounted at a distance of vehicle system
The region of the dynamic predetermined second distance of pedal；
The electrical control mechanism 14 is also used to after generating alarm command, monitors the driver in the alarm command
The alarm command that has no basis in the corresponding control time is braked, and the alarm command is exported to the braking and is executed
Mechanism, so that the brake actuator is braked according to the alarm command, the alarm command includes that the first early warning refers to
It enables and the second alarm command.
In the embodiment of the present invention, brake actuator realizes the automatic braking of vehicle according to alarm command, and vehicle is avoided to send out
Raw collision accident.
In the embodiment of the present invention, as an alternative embodiment, different alarm commands is corresponding with the different control time.Example
Such as, if first relative distance is larger but be less than safe distance and speed is positive and smaller, the alarm command pair of generation in real time
The control time answered can be slightly larger.
In the embodiment of the present invention, by the monitoring of millimetre-wave radar and laser range finder and vehicle speed measurement instrument, and will inspection
Measurement information exports to electrical control mechanism and carries out information processing, knocks into the back when detecting that vehicle has with front vehicles (front obstacle)
When the danger of collision accident, i.e. the early warning before rear-end impact accident occurs is automatically reminded to driver and takes collision prevention measure, example in time
Such as, take braking to avoid the generation of accident.If monitoring that driver does not still take collision prevention measure after early warning, thus
When causing rear-end impact accident that will occur, intelligent brake is carried out automatically according to danger level, to avoid rear-end impact accident
Generation, or, the probability with front obstacle collision is reduced, or, mitigating the injury that is subject to of driver and conductor and vehicle to the maximum extent
The severity to collide.
In the embodiment of the present invention, as an alternative embodiment, millimetre-wave radar belongs to CW with frequency modulation millimetre-wave radar.
Fig. 2 shows millimetre-wave radar structural schematic diagrams provided by the embodiment of the present invention.As shown in Fig. 2, the millimeter wave
Radar includes: radar transceiver 201, modulation signal generator 202, difference frequency signal preprocessor 203, analog-digital converter 204, base
The digital signal processor 205 of programmable gate array (FPGA, Field Programmable Gate Array) on site,
In,
Modulation signal generator 202, for exporting the triangle wave direction radar transceiver 201 for being used to modulate generated；
Radar transceiver 201, the linear FM signal of the radio-frequency range for will generate according to received triangular wave is forward
Square barrier transmitting, the echo that linear FM signal and the linear FM signal of transmitting are reflected by front obstacle is believed
Number output is to difference frequency signal preprocessor 203；
In the embodiment of the present invention, by the antenna of radar transceiver 201, barrier emits linear FM signal forwards, transmitting
Linear FM signal reflected by front obstacle, antenna receives the linear FM signal that is reflected by front obstacle, is returned
Wave signal exports linear FM signal and echo-signal to difference frequency signal preprocessor 203.
Difference frequency signal preprocessor 203, after received echo-signal and linear FM signal are carried out Frequency mixing processing
Obtained difference frequency signal is exported to analog-digital converter 204；
In the embodiment of the present invention, difference frequency signal preprocessor 203 (emits received echo-signal and linear FM signal
Signal) carry out Frequency mixing processing, obtain include range information difference frequency signal.As an alternative embodiment, difference frequency signal is located in advance
Reason device 203 is also used to be filtered difference frequency signal, the Signal Pretreatments such as gain adjustment, and exports to analog-digital converter
204。
Analog-digital converter 204, for being obtained after carrying out modulus (AD) conversion and digital filtering to received difference frequency signal
To digital signal export to the digital signal processor 205 based on FPGA；
Digital signal processor 205 based on FPGA, the vehicle for will be handled using digital signal
The first relative distance relative to the front obstacle is exported to electrical control mechanism.
In the embodiment of the present invention, analog-digital converter 204 carries out modulus (AD) conversion to received signal and number is filtered
After wave, pass through Serial Peripheral Interface (SPI) (SPI, Serial Peripheral Interface) Serial output to the number based on FPGA
Word signal processor 205 carries out Digital Signal Processing, obtains frequency values, and finally the higher frequency values of the precision based on acquisition carry out
It calculates, obtains first relative distance of the vehicle relative to front obstacle.
In the embodiment of the present invention, as an alternative embodiment, millimetre-wave radar further include:
Modulated signal adjuster (not shown), triangular wave for being exported to modulation signal generator carry out amplitude and
It exports after frequency adjustment to radar transceiver 201.
In the embodiment of the present invention, as another alternative embodiment, millimetre-wave radar further include:
Power device (not shown) is located with radar transceiver 201, modulation signal generator 202, difference frequency signal in advance respectively
It manages device 203, analog-digital converter 204, the digital signal processor 205 based on field programmable gate array to be connected, is radar transmit-receive
Device 201, difference frequency signal preprocessor 203, analog-digital converter 204, is based on field-programmable gate array at modulation signal generator 202
The digital signal processor 205 of column provides operating voltage.
In the embodiment of the present invention, millimetre-wave radar launches outward a column continuous frequency modulation millimeter wave (linear frequency modulation by antenna
Signal), and receive the reflection signal (receiving signal) of front obstacle.Emit the frequency of signal (linear FM signal) at any time
By the rule variation of modulated signal, modulated signal is triangular signal.
Fig. 3 shows transmitting signal provided by the embodiment of the present invention and receives the frequency variation schematic diagram of signal.Such as Fig. 3
Shown, solid line waveform indicates that transmitting signal, dotted line waveform indicate to receive signal in figure, and T indicates the modulation period of transmitting signal, Δ
F indicates the hunting range of the emission signal frequency of voltage controlled oscillator, i.e. modulating bandwidth, fdiff_upIt indicates transmitting signal and receives letter
Number by mixing after positive frequency modulation section difference frequency signal frequency, fdiff_downIt indicates transmitting signal and receives signal by mixing
Afterwards in the difference frequency signal frequency of negative sense frequency modulation section.
In the embodiment of the present invention, caused transmitting signal is propagated by signal and is known as with the delay of signal in time is received
Delay effect causes to emit signal and receive signal to generate the difference that a size is τ on a timeline, which can make to emit
It is f that signal and reception signal generate a size on the frequency axisDelayDifference on the frequency.Wherein,
In formula,
R is front obstacle with respect to the relative distance of millimetre-wave radar, i.e., vehicle relative to the front obstacle the
One relative distance；
C is the light velocity.
According to triangle relation, can be obtained by Fig. 3:
In the embodiment of the present invention, fDelay=fdiff_up=fdiff_down。
Formula (1) is substituted into formula (2), can be obtained:
It follows that relative distance is linear with difference frequency signal when front obstacle and millimetre-wave radar are opposing stationary
Relationship.
If front obstacle and millimetre-wave radar have relative motion, emit the modulation parameter (tune of transmitting signal of signal
The hunting range Δ F of cycle T and tranmitting frequency processed) it is constant, when carrying out frequency modulation to millimetre-wave radar using triangular wave, in addition to
Consider other than the time difference t as caused by delay effect, it is also contemplated that the Doppler frequency shift f as caused by Doppler effectDopp。
When Fig. 4 shows front obstacle provided by the embodiment of the present invention and millimetre-wave radar relative motion, transmitting letter
Number, receive the frequency and the schematic diagram of time of signal and difference frequency signal.As shown in figure 4, Doppler frequency shift and front obstacle
Movement velocity v has following relationship:
In formula,
fDoppFor Doppler frequency shift, unit Hz；
f0For the tranmitting frequency of millimetre-wave radar, unit Hz；
V is the movement velocity (m/s) of front obstacle；
C is the light velocity (m/s)；
Angle (°) of the α between the line of millimetre-wave radar to front obstacle and the direction of motion of front obstacle.
In the embodiment of the present invention, it is simplified style (4), enables angle α=0, i.e. front obstacle is done relative to millimetre-wave radar
Radial motion, then formula (4) can simplify are as follows:
In Fig. 4, in triangular wave forward direction frequency modulation section, time delay effect is cancelled out each other with Doppler effect；It is negative in triangular wave
To frequency modulation section, time delay effect is overlapped mutually again with Doppler effect.Thus, triangular wave is in positive frequency modulation section, millimeter wave thunder
The output signal f reacheddiff_up, and, in negative sense frequency modulation section, the output signal f of millimetre-wave radardiff_downIt is respectively as follows:
fdiff_up=fDelay-fDopp (6)
fdiff_down=fDelay+fDopp (7)
Formula (6) is added with formula (7), can be obtained:
fdiff_up+fdiff_down=2fDelay (8)
Formula (8) are substituted into formula (3), can be obtained:
In this way, carrying out the difference frequency signal that signal processing obtains by analysis millimetre-wave radar, available triangular wave is just
To the output signal f of frequency modulation sectiondiff_up, and, in the output signal f of negative sense frequency modulation sectiondiff_down, further according to formula (9)
Obtain relative distance (first relative distance) of the front obstacle with respect to millimetre-wave radar.
In the embodiment of the present invention, formula (6) and formula (7) are subtracted each other, can be obtained:
fdiff_up-fdiff_down=-2fDelay (10)
Formula (10) are substituted into formula (5), can be obtained:
In this way, by obtaining output signal of the millimetre-wave radar in positive frequency modulation section and the output letter in negative sense frequency modulation section
Number, in conjunction with the tranmitting frequency f of millimetre-wave radar0, available front obstacle does radial motion relative to millimetre-wave radar
Relative velocity.
In the embodiment of the present invention, as an alternative embodiment, radar transceiver uses K- band radar transceiver (IVS-
148), K- band radar transceiver has been internally integrated voltage controlled oscillator (VCO, Voltage Controlled Oscillator),
Radar transceiver uses plane microstrip antenna structure, and dual-mode antenna is integrated, in this way, compact structure, when work is low in energy consumption,
But also being easily integrated into millimetre-wave radar.
Modulation signal generator has waveform output class using accurate oscillating integrated circuit ICL8038, the integrated circuit
The features such as more, low distortion, the high linearity, just can generate the waveform from 0.001Hz~1MHz, and wave by less component
The frequency and duty ratio of shape can be controlled by external capacitive and potentiometer respectively, the waveform of output can be triangular wave, square wave,
Sine wave etc..
Fig. 5 shows the electrical block diagram of modulation signal generator provided by the embodiment of the present invention.Such as Fig. 5 institute
Show, modulation signal generator includes: oscillating integrated circuit 501, first capacitor 502, the second capacitor 503, third capacitor 504,
Four capacitors 505, first resistor 506, second resistance 507,3rd resistor 508, the 4th resistance 509, the 510, the 6th electricity of the 5th resistance
Hinder the 511, the 7th resistance 512, the 8th resistance 513, the 9th resistance 514 and the tenth resistance 515, wherein
One end of 8th resistance 513 is connected with the anode of predetermined first voltage, one end phase of the other end and the 6th resistance 511
Even；
The other end of 6th resistance 511 is connected with the cathode of predetermined first voltage；
One end of first capacitor 502 is connected with the anode of predetermined first voltage, and the of the other end and oscillating integrated circuit 501
Eight pins are connected, and the 8th pin is also movably attached on the 8th resistance 513；
One end of second capacitor 503 is connected with the tenth pin of oscillating integrated circuit 501, the other end and predetermined first voltage
Cathode be connected；
4th pin of oscillating integrated circuit 501 is connected with one end of first resistor 506, the other end of first resistor 506
It is connected with one end of the 7th resistance 512, the other end of the 7th resistance 512 is connected with one end of second resistance 507, second resistance
507 other end is connected with the 5th pin of oscillating integrated circuit 501, and the anode of predetermined first voltage is movably attached to the 7th
On resistance 512；
6th pin of oscillating integrated circuit 501 is connected with the anode of predetermined first voltage；
9th pin of oscillating integrated circuit 501 is connected with one end of 3rd resistor 508 and exports square wave, 3rd resistor
508 other end is connected with the anode of predetermined first voltage；
The third pin of oscillating integrated circuit 501 exports triangular wave；
Second pin of oscillating integrated circuit 501 exports sine wave；
11st pin of oscillating integrated circuit 501 is connected with the cathode of predetermined first voltage；
First pin of oscillating integrated circuit 501 is connected with one end of third capacitor 504, the other end of third capacitor 504
It is connected with the cathode of predetermined first voltage；
First pin of oscillating integrated circuit 501 is also movably attached on the 9th resistance 514；
One end of 9th resistance 514 is connected with the cathode of predetermined first voltage, one end phase of the other end and the 4th resistance 509
Even；
The other end of 4th resistance 509 is connected with one end of the anode of predetermined first voltage and the 5th resistance 510 respectively；
The other end of 5th resistance 510 is connected with one end of one end of the tenth resistance 515；
The other end of tenth resistance 515 is connected with the cathode of one end of the 4th capacitor 505 and predetermined first voltage respectively；
The other end of 12nd pin and the 4th capacitor 505 of oscillating integrated circuit 501 is also movably attached to the tenth electricity
In resistance 515.
In the embodiment of the present invention, as an alternative embodiment, first capacitor 502, the second capacitor 503, third capacitor 504 with
And the 4th the capacitance size of capacitor 505 be for 0.1 microfarad；
First resistor 506, second resistance 507,3rd resistor 508, the resistance value of the 4th resistance 509 and the 5th resistance 510
Size is 10k ohm, the resistance value size of the 6th resistance 511 is 20k ohm；
The resistance value size of 7th resistance 512 is 5k ohm, the resistance value size of the 8th resistance 513 is 10k ohm, the 9th resistance
514 and the tenth the resistance value size of resistance 515 be 100k ohm, predetermined first voltage is 12V.
Fig. 6 shows the electrical block diagram of modulated signal adjuster provided by the embodiment of the present invention.Such as Fig. 6 institute
Show, which includes: eleventh resistor 601, twelfth resistor 602, thirteenth resistor 603, the 14th resistance
604, the 15th resistance 605, the 16th resistance 606, the 17th resistance 607, the 18th resistance 608, the first transport and placing device 609 and
5th capacitor 610, wherein one end of eleventh resistor 601 is connected with the anode of predetermined first voltage, the other end and the 16th electricity
One end of resistance 606 is connected；
The other end of 16th resistance 606 is grounded；
Triangular wave is accessed in one end of thirteenth resistor 603, and the other end is connected with one end of the 17th resistance 607；
The other end of 17th resistance 607 is grounded；
The third end of first transport and placing device 609 is connected with one end of twelfth resistor 602 and the 14th resistance 604 respectively,
The other end of twelfth resistor 602 movably connects on the 16th resistance 606；
The other end of 14th resistance 604 is connected with one end of the 5th capacitor 610, and the other end of the 5th capacitor 610 is movable
Ground connects on the 17th resistance 607；
The second end of first transport and placing device 609 is connected with one end of the 15th resistance 605 and the 18th resistance 608 respectively,
Also movably connect on the 18th resistance 608, the other end of the 15th resistance 605 ground connection, the other end of the 18th resistance 608 with
The first end of first transport and placing device 609 is connected, and the first end of the first transport and placing device 609 is output end；
8th end of the first transport and placing device 609 is connected with the anode of predetermined first voltage, the 4th end and predetermined first voltage
Cathode is connected.
In the embodiment of the present invention, the model OPA2211A of the first transport and placing device 609, third end be non-inverting input terminal, second
End is out-phase input terminal.The resistance value size of eleventh resistor 601 is 50k ohm, the resistance value size of twelfth resistor 602 is 10k
Ohm, thirteenth resistor 603 resistance value size be 5k ohm, the resistance value size of the 14th resistance 604 is 10k ohm, the 15th
The resistance value size of resistance 605 is 10k ohm, the resistance value size of the 16th resistance 606 is the resistance of 5k ohm, the 17th resistance 607
Value size is 20k ohm, the resistance value size of the 18th resistance 608 is 100k ohm, the capacitance size of the 5th capacitor 610 is 10 micro-
Method.
In the embodiment of the present invention, by adjusting the 16th resistance 606 and the 18th resistance 608, triangle can be controlled separately
The direct current biasing and peak-to-peak value range of wave.
In the embodiment of the present invention, as an alternative embodiment, difference frequency signal preprocessor include: bivalent high-pass filter,
Gain adjustment circuit and frequency overlapped-resistable filter.
Fig. 7 shows the electrical block diagram of bivalent high-pass filter provided by the embodiment of the present invention.Such as Fig. 7 institute
Show, which includes: the 19th resistance 701, the 20th resistance 702, the 21st resistance the 703, the 22nd
Resistance 704, the 23rd resistance 705, the 24th resistance 706, the 25th resistance 707, the 26th resistance 708, second
17 resistance 709, the 6th capacitor 710, the 7th capacitor 711, the 8th capacitor 712, the 9th capacitor 713, the tenth capacitor 714, second
Transport and placing device 715 and third transport and placing device 716, wherein
One end of 19th resistance 701 is connected with the anode of predetermined second voltage, the other end respectively with the 21st resistance
703, one end of the 6th capacitor 710, the 22nd resistance 704 and the 20th resistance 702 is connected；
The other end of 21st resistance 703 and the 6th capacitor 710 ground connection；
The other end of 22nd resistance 704 is connected with the third end of the second transport and placing device 715, the 20th resistance 702 it is another
One end is connected with the 5th end of third transport and placing device 716；
8th end of the second transport and placing device 715 and the 8th end of third transport and placing device 716 respectively with predetermined first voltage just
Extremely it is connected, the 4th end of the 4th end of the second transport and placing device 715 and third transport and placing device 716 cathode with predetermined first voltage respectively
It is connected；
The second end of second transport and placing device 715 is electric with the 25th resistance 707, the 26th resistance 708 and the tenth respectively
One end of appearance 714 is connected；
The other end of 25th resistance 707 is connected with one end of the 8th capacitor 712, the other end point of the 8th capacitor 712
It is not connected with one end of transmitting signal, reflection signal and the 27th resistance 709；
The other end of 27th resistance 709 is grounded；
The other end of 26th resistance 708 and the tenth capacitor 714 is connected with the first end of the second transport and placing device 715, the
The first end of two transport and placing devices 715 is also connected with one end of the 7th capacitor 711；
The other end of 7th capacitor 711 is connected with one end of the 23rd resistance 705, the 23rd resistance 705 it is another
End is connected with one end of the 6th end of third transport and placing device 716, the 24th resistance 706, the 9th capacitor 713 respectively；
24th resistance 706 and the other end of the 9th capacitor 713 and the 7th end of third transport and placing device 716 are connected, the
7th end of three transport and placing devices 716 is output end.
In the embodiment of the present invention, as an alternative embodiment, 715 model MC330781 of the second transport and placing device, third amplifier
The model MC330787 of device 716.The resistance value size of 19th resistance 701 is 47k ohm, the resistance value of the 20th resistance 702 is big
Small is 1k ohm, the resistance value size of the 21st resistance 703 is 15k ohm, the resistance value size of the 22nd resistance 704 is the Europe 1k
Nurse, the 23rd resistance 705 resistance value size be 1k ohm, the resistance value size of the 24th resistance 706 is 30k ohm, second
The resistance value size of 15 resistance 707 is 1k ohm, the resistance value size of the 26th resistance 708 is 30k ohm, the 27th resistance
709 resistance value size is 100k ohm, the capacitance size of the 6th capacitor 710 is 10 microfarads, the capacitance size of the 7th capacitor 711 is
68 nanofarads, the capacitance size that the capacitance size of the 8th capacitor 712 is 68 nanofarads, the 9th capacitor 713 and the tenth capacitor 714 are
150 pico farads.
In the embodiment of the present invention, predetermined second voltage is 5V, and bivalent high-pass filter is gain -3dB, frequency is 2kHz's
Second order active high-pass filter, transport and placing device are with characteristics such as low noise, low maladjustment voltage and high gain-bandwidth products
MC33078.Bivalent high-pass filter is filtered input signal, enhanced processing.
Fig. 8 shows the electrical block diagram of gain adjustment circuit provided by the embodiment of the present invention.As shown in figure 8,
The gain adjustment circuit includes: the 28th resistance 801, the 29th resistance 802, the 30th resistance 803 and four high guaily unit
Device 804, wherein
Input signal is accessed in one end of 28th resistance 801, and the other end is connected with the third end of four high guaily unit device 804；
The second end of four high guaily unit device 804 one end phase with the 29th resistance 802 and the 30th resistance 803 respectively
Even, the 8th end is connected with the anode of predetermined first voltage, and the 4th end is connected with the cathode of predetermined first voltage；
The other end of 30th resistance 803 is grounded, and the of the other end of the 29th resistance 802 and four high guaily unit device 804
One end is connected, and the first end of four high guaily unit device 804 is output end.
In the embodiment of the present invention, it is mutual that gain adjustment circuit is used to guarantee that the difference frequency signal of front stage circuits and the AD of rear class to sample
It does not impact, for making the peak-to-peak value of difference frequency signal reach the full shelves value of AD as far as possible, and front and back stages circuit can be allowed
Between form effective isolation.As an alternative embodiment, the model OPA2211A of four high guaily unit device, the resistance of the 18th resistance
Value size is 1k ohm, the resistance value size of the 25th resistance is 5k ohm, the resistance value size of the 27th resistance is the Europe 10k
Nurse.
Fig. 9 shows the electrical block diagram of frequency overlapped-resistable filter provided by the embodiment of the present invention.As shown in figure 9,
The frequency overlapped-resistable filter includes: the 31st resistance 901 and the 11st capacitor 902, wherein
Input signal is accessed in one end of 31st resistance 901, and the other end is connected with one end of the 11st capacitor 902；
The other end of 11st capacitor 902 is grounded, and one end of the 31st resistance 901 is another with the 11st capacitor 902
End forms input terminal, and the both ends of the 11st capacitor 902 form output end.
In the embodiment of the present invention, as an alternative embodiment, the resistance value size of the 31st resistance 901 is 1k ohm, the
The capacitance size of 11 capacitors 902 is 510 pico farads.
In the embodiment of the present invention, analog-digital converter is when sampling difference frequency signal, if not taking filtering to arrange
It applies, just will appear the interference of high-frequency noise, it, will the frequency of occurrences when the frequency of high-frequency noise is more than Nyquist sampling frequency
Aliasing.In order to avoid the appearance of the frequency aliasing when being digitized to difference frequency signal, filtered out using frequency overlapped-resistable filter
Generate the frequency content of frequency aliasing phenomenon.
In the embodiment of the present invention, as an alternative embodiment, analog to digital conversion circuit uses 12 high speeds of AD company production
String type data converter AD7893, using single 5V power, the resolution ratio of converter up to 0.02%, power consumption 25mW, including
6usDAC, sampling/hold amplifier, control logic circuit and HSSI High-Speed Serial Interface.
Laser range finder principle is as follows:
After laser range finder is powered, the square-wave signal that oscillator generates controls self-induction booster circuit, by laser range finder
Main power source (DC5V) is converted into the DC pulse moving voltage that floating voltage is about DC160V or so, using steady pressure treatment, is sending out
The transmitting driving voltage that floating voltage DC120V or so is formed at emitter-base bandgap grading, uses for transmit circuit.High voltage direct current pulsating volage is logical
Further filtering is crossed, the excitation power supply for receiving photodiode is formed and is used for receiving photodiode.
Primary processor issues transmitting laser command, while coprocessor being notified to have been sent from transmitting laser command.Specifically:
Emit laser command control switch triode ON, makes to be stored in the high-voltage electricity moment on capacitor by switching transistor, motivate
Pulsed infrared laser light diode emission pulse laser.Meanwhile pulse signal (main wave) is formed to coprocessor to notify to assist
The success of processor pulse laser emission, coprocessor control time integral circuit start to charge to integrating capacitor.
The laser of laser range finder transmitting forms light beam homed on its target after emitting eyeglass adequate focusing.From target surface
The light of reflection projects in the effective sensitization area of reception pipe by the convergence of reception eyeglass, forms a faint narrow arteries and veins
Rush signal.Narrow pulse signal (echo pulse signal) after Current amplifier and voltage amplification, is sent to the same of voltage comparator
Phase input terminal (the 2nd pin), reference power source is from inverting input terminal (the 3rd pin) input voltage comparator of voltage comparator, only
There is voltage could be by voltage comparator higher than the echo pulse signal of reference voltage, and voltage is lower than the echo arteries and veins of reference voltage
Signal is rushed to be filtered out.By the height for adjusting reference voltage, so that it may adjust the anti-interference ability of laser range finder.
Useful echo pulse signal is sent to coprocessor.Coprocessor sends echo to primary processor and has received letter
Number, it is simultaneously emitted by instruction, stops the charging to integrating capacitor.Corresponding integral voltage letter on primary processor acquired integrated capacitor
Breath calculates the charging time of integrating capacitor, i.e., the total time T returned from Laser emission to echo by integrated voltage value.
Know that the speed that light is propagated in air is the meter per second of C=3 × 108, laser range finder can be calculated to tested by following formula
The distance S of target.
S=T × C/2
In formula,
The unit of S be rice, laser from be emitted to echo return total time T unit be the second.
Figure 10 shows vehicle collision prevention method flow schematic diagram provided by the embodiment of the present invention.
Step 101, receive the vehicle that detects of millimetre-wave radar relative to front obstacle the first relative distance with
And first relative velocity；
Step 102, second phase of the vehicle that reception laser range finder detects relative to the front obstacle
It adjusts the distance and the second relative velocity；
In the embodiment of the present invention, millimetre-wave radar and laser range finder are combined, for detecting front obstacle and vehicle
Relative distance.
Step 103, the real-time speed for the vehicle that vehicle speed measurement instrument detects is received；
Step 104, whether first relative distance is greater than pre-set distance threshold and first relative velocity
Greater than zero, if so, executing step 105, otherwise, step 106 is executed；
Step 105, the first early warning is generated according to first relative distance, the first relative velocity and the real-time speed to refer to
It enables, the driver of vehicle described in early warning, so that the driver brakes according to first alarm command；
Step 106, the smaller value in first relative distance and second relative distance is obtained, according to described smaller
Value, the first relative velocity and the real-time speed generate the second alarm command, the driver of vehicle described in early warning, so that described drive
The person of sailing is braked according to second alarm command.
In the embodiment of the present invention, as an alternative embodiment, this method further include:
Show first relative distance, the second relative distance, the first relative velocity, the second relative velocity, real-time speed；
After generating alarm command, voice/sound alarm is carried out, and, according to the alarm command, brake the vehicle
The output of driving, the alarm command include the first alarm command and the second alarm command.
In the embodiment of the present invention, as another alternative embodiment, this method further include:
After generating alarm command, monitor the driver within the alarm command corresponding control time not according to
It is braked according to the alarm command, the alarm command is exported to the brake actuator, so that the braking executes
Mechanism is braked according to the alarm command, and the alarm command includes the first alarm command and the second alarm command.
As shown in figure 11, one embodiment of the application provides a kind of computer equipment 110, for executing the vehicle in Figure 10
Collision prevention method, the equipment include memory 111, processor 112 and are stored on the memory 111 and can be in the processor 112
The computer program of upper operation, wherein above-mentioned processor 112 realizes above-mentioned vehicle collision prevention method when executing above-mentioned computer program
The step of.
Specifically, above-mentioned memory 111 and processor 112 can be general memory and processor, do not do have here
Body limits, and when the computer program of 112 run memory 111 of processor storage, is able to carry out above-mentioned vehicle collision prevention method.
Corresponding to the vehicle collision prevention method in Figure 10, the embodiment of the present application also provides a kind of computer-readable storage mediums
Matter is stored with computer program on the computer readable storage medium, which executes above-mentioned when being run by processor
The step of vehicle collision prevention method.
Specifically, which can be general storage medium, such as mobile disk, hard disk, on the storage medium
Computer program when being run, be able to carry out above-mentioned vehicle collision prevention method.
In embodiment provided herein, it should be understood that disclosed system and method, it can be by others side
Formula is realized.System embodiment described above is only schematical, for example, the division of the unit, only one kind are patrolled
Function division is collected, there may be another division manner in actual implementation, in another example, multiple units or components can combine or can
To be integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Coupling, direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some communication interfaces, system or unit
It connects, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in embodiment provided by the present application can integrate in one processing unit, it can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, the technical solution of the application is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) execute each embodiment the method for the application all or part of the steps.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), arbitrary access are deposited
The various media that can store program code such as reservoir (Random Access Memory, RAM), magnetic or disk.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing, in addition, term " the
One ", " second ", " third " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
Finally, it should be noted that embodiment described above, the only specific embodiment of the application, to illustrate the application
Technical solution, rather than its limitations, the protection scope of the application is not limited thereto, although with reference to the foregoing embodiments to this Shen
It please be described in detail, those skilled in the art should understand that: anyone skilled in the art
Within the technical scope of the present application, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of the embodiment of the present application technical solution.The protection in the application should all be covered
Within the scope of.Therefore, the protection scope of the application shall be subject to the protection scope of the claim.
Claims (10)
1. a kind of vehicle anticollision device characterized by comprising millimetre-wave radar, laser range finder, vehicle speed measurement instrument and electricity
Control mechanism, wherein
The quantity of millimetre-wave radar, brake actuator and vehicle speed measurement instrument is 1, and the quantity of laser range finder is 2, millimeter wave
Radar, laser range finder and vehicle speed measurement instrument are connected by wirning harness is respectively connected to electrical control mechanism；
Millimetre-wave radar is mounted on the intermediate region of the preceding air inlet net of vehicle, and laser range finder is respectively symmetrically mounted on millimeter wave thunder
The left and right sides reached, vehicle speed measurement instrument are mounted at a distance of the region of the predetermined first distance of vehicular transmission shaft, and electrical control mechanism is mounted on
In driver's cabin；
Millimetre-wave radar emits millimeter-wave signal for barrier forwards, receives the millimeter that the front obstacle is reflected back
Reflection wave signal determines the vehicle relative to the front according to the millimeter-wave signal and the millimeter reflection wave signal
The first relative distance and the first relative velocity of barrier, by first relative distance and the first relative velocity export to
Electrical control mechanism；
Laser range finder, for emitting laser signal to the front obstacle, receive that the front obstacle is reflected back swashs
Light reflects signal and determines the vehicle relative to the preceding object according to the laser signal and the laser reflection signal
The second relative distance and the second relative velocity of object, second relative distance and the second relative velocity are exported to automatically controlled
Mechanism；
Vehicle speed measurement instrument exports the real-time speed that measurement obtains to electrical control mechanism for measuring the real-time speed of vehicle；
Electrical control mechanism, if being greater than pre-set distance threshold and first relative velocity for first relative distance
Greater than zero, the first alarm command, early warning institute are generated according to first relative distance, the first relative velocity and the real-time speed
The driver of vehicle is stated, so that the driver brakes according to first alarm command；
If first relative distance is no more than pre-set distance threshold and first relative velocity is greater than zero, obtain
Smaller value in first relative distance and second relative distance, according to the smaller value, the first relative velocity and institute
It states real-time speed and generates the second alarm command, the driver of vehicle described in early warning, so that the driver is pre- according to described second
Alert instruction is braked.
2. vehicle anticollision device according to claim 1, which is characterized in that the electrical control mechanism is also used to:
Show first relative distance, the second relative distance, real-time speed；
After generating alarm command, voice/sound alarm is carried out, and, according to the alarm command, brake the vehicle traction
Output, the alarm command include the first alarm command and the second alarm command.
3. vehicle anticollision device according to claim 1, which is characterized in that further include:
Brake actuator, quantity 1 are connected with brake actuator by wirning harness, are mounted at a distance of vehicle brake pedal
The region of predetermined second distance；
The electrical control mechanism is also used to after generating alarm command, monitors that the driver is corresponding in the alarm command
The alarm command that has no basis in the control time is braked, and the alarm command is exported to the brake actuator,
So that the brake actuator is braked according to the alarm command, the alarm command includes the first alarm command and the
Two alarm commands.
4. vehicle anticollision device according to any one of claims 1 to 3, which is characterized in that the millimetre-wave radar includes:
Radar transceiver, modulation signal generator, difference frequency signal preprocessor, analog-digital converter, based on field programmable gate array
Digital signal processor, wherein
Modulation signal generator, the triangle wave direction radar transceiver output for being used to modulate for that will generate；
Radar transceiver, the linear FM signal of the radio-frequency range for will be generated according to received triangular wave barrier forwards
Transmitting, by the echo-signal that linear FM signal and the linear FM signal of transmitting are reflected by front obstacle export to
Difference frequency signal preprocessor；
Difference frequency signal preprocessor, for received echo-signal and linear FM signal to be carried out the difference obtained after Frequency mixing processing
Frequency signal is exported to analog-digital converter；
Analog-digital converter, the digital signal for obtain after analog-to-digital conversion and digital filtering to received difference frequency signal
The output extremely digital signal processor based on FPGA；
Digital signal processor based on FPGA, the vehicle for that will be handled using digital signal is relative to institute
The first relative distance for stating front obstacle is exported to electrical control mechanism.
5. vehicle anticollision device according to claim 4, which is characterized in that the millimetre-wave radar further include:
Modulated signal adjuster, triangular wave for being exported to modulation signal generator export after amplitude and frequency adjustment to
Radar transceiver.
6. vehicle anticollision device according to claim 4, which is characterized in that the modulation signal generator includes: oscillation
Integrated circuit, first capacitor, the second capacitor, third capacitor, the 4th capacitor, first resistor, second resistance, 3rd resistor, the 4th
Resistance, the 5th resistance, the 6th resistance, the 7th resistance, the 8th resistance, the 9th resistance and the tenth resistance, wherein
One end of 8th resistance is connected with the anode of predetermined first voltage, and the other end is connected with one end of the 6th resistance；
The other end of 6th resistance is connected with the cathode of predetermined first voltage；
One end of first capacitor is connected with the anode of predetermined first voltage, the 8th pin phase of the other end and oscillating integrated circuit
Even, the 8th pin is also movably attached on the 8th resistance；
One end of second capacitor is connected with the tenth pin of oscillating integrated circuit, the cathode phase of the other end and predetermined first voltage
Even；
4th pin of oscillating integrated circuit is connected with one end of first resistor, and the one of the other end of first resistor and the 7th resistance
End is connected, and the other end of the 7th resistance is connected with one end of second resistance, the other end of second resistance and oscillating integrated circuit
5th pin is connected, and the anode of predetermined first voltage is movably attached on the 7th resistance；
6th pin of oscillating integrated circuit is connected with the anode of predetermined first voltage；
9th pin of oscillating integrated circuit is connected with one end of 3rd resistor and exports square wave, the other end of 3rd resistor and pre-
The anode for determining first voltage is connected；
The third pin of oscillating integrated circuit exports triangular wave；
Second pin of oscillating integrated circuit exports sine wave；
11st pin of oscillating integrated circuit is connected with the cathode of predetermined first voltage；
First pin of oscillating integrated circuit is connected with one end of third capacitor, the other end of third capacitor and predetermined first voltage
Cathode be connected；
First pin of oscillating integrated circuit is also movably attached on the 9th resistance；
One end of 9th resistance is connected with the cathode of predetermined first voltage, and the other end is connected with one end of the 4th resistance；
The other end of 4th resistance is connected with one end of the anode of predetermined first voltage and the 5th resistance respectively；
The other end of 5th resistance is connected with one end of one end of the tenth resistance；
The other end of tenth resistance is connected with the cathode of one end of the 4th capacitor and predetermined first voltage respectively；
The other end of 12nd pin and the 4th capacitor of oscillating integrated circuit, is also movably attached on the tenth resistance.
7. vehicle anticollision device according to claim 5, which is characterized in that the modulated signal adjuster includes: the tenth
One resistance, twelfth resistor, thirteenth resistor, the 14th resistance, the 15th resistance, the 16th resistance, the 17th resistance, the tenth
Eight resistance, the first transport and placing device and the 5th capacitor, wherein
One end of eleventh resistor is connected with the anode of predetermined first voltage, and the other end is connected with one end of the 16th resistance；
The other end of 16th resistance is grounded；
Triangular wave is accessed in one end of thirteenth resistor, and the other end is connected with one end of the 17th resistance；
The other end of 17th resistance is grounded；
The third end of first transport and placing device is connected with one end of twelfth resistor and the 14th resistance respectively, twelfth resistor it is another
One end movably connects on the 16th resistance；
The other end of 14th resistance is connected with one end of the 5th capacitor, and the other end of the 5th capacitor movably connects in the 17th electricity
In resistance；
The second end of first transport and placing device is connected with one end of the 15th resistance and the 18th resistance respectively, also movably connects
On 18 resistance, the other end of the 15th resistance is grounded, and the other end of the 18th resistance is connected with the first end of the first transport and placing device,
The first end of first transport and placing device is output end；
8th end of the first transport and placing device is connected with the anode of predetermined first voltage, the cathode phase at the 4th end and predetermined first voltage
Even.
8. a kind of vehicle collision prevention method characterized by comprising
It is relatively fast relative to the first relative distance of front obstacle and first to receive the vehicle that millimetre-wave radar detects
Degree；
The vehicle that detects of laser range finder is received relative to the second relative distance of the front obstacle and the
Two relative velocities；
Receive the real-time speed for the vehicle that vehicle speed measurement instrument detects；
If first relative distance is greater than pre-set distance threshold and first relative velocity is greater than zero, according to institute
It states the first relative distance, the first relative velocity and the real-time speed and generates the first alarm command, the driving of vehicle described in early warning
Member, so that the driver brakes according to first alarm command；
If first relative distance is no more than pre-set distance threshold and first relative velocity is greater than zero, obtain
Smaller value in first relative distance and second relative distance, according to the smaller value, the first relative velocity and institute
It states real-time speed and generates the second alarm command, the driver of vehicle described in early warning, so that the driver is pre- according to described second
Alert instruction is braked.
9. a kind of electronic equipment characterized by comprising processor, memory and bus, the memory are stored with the place
The executable machine readable instructions of device are managed, when electronic equipment operation, pass through bus between the processor and the memory
Communication, the machine readable instructions execute the step of vehicle collision prevention method as claimed in claim 8 when being executed by the processor
Suddenly.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer journey on the computer readable storage medium
The step of sequence, which executes vehicle collision prevention method as claimed in claim 8 when being run by processor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910809588.8A CN110497895A (en) | 2019-08-29 | 2019-08-29 | A kind of vehicle collision prevention method and device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910809588.8A CN110497895A (en) | 2019-08-29 | 2019-08-29 | A kind of vehicle collision prevention method and device |
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