CN111098786A - Commercial vehicle safe driving auxiliary system based on fusion of vision and millimeter wave radar - Google Patents
Commercial vehicle safe driving auxiliary system based on fusion of vision and millimeter wave radar Download PDFInfo
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- CN111098786A CN111098786A CN202010005147.5A CN202010005147A CN111098786A CN 111098786 A CN111098786 A CN 111098786A CN 202010005147 A CN202010005147 A CN 202010005147A CN 111098786 A CN111098786 A CN 111098786A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
- B60R2011/0003—Arrangements for holding or mounting articles, not otherwise provided for characterised by position inside the vehicle
- B60R2011/0026—Windows, e.g. windscreen
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/0049—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means for non integrated articles
- B60R2011/005—Connection with the vehicle part
- B60R2011/0063—Connection with the vehicle part using adhesive means, e.g. hook and loop fasteners
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/804—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for lane monitoring
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Abstract
The invention relates to a commercial vehicle safe driving auxiliary system based on vision and millimeter wave radar fusion, which comprises a front-view camera arranged on a front windshield of a vehicle, a millimeter wave radar arranged on a front bumper of the vehicle and a fusion controller arranged in a cab of the vehicle head, wherein the front-view camera acquires visual data in real time, the millimeter wave radar acquires spatial position data in real time and transmits the spatial position data to the fusion controller for processing, the fusion controller transmits a processing result to a vehicle braking control system, the vehicle braking control system activates the vehicle braking system to avoid collision or lighten the vehicle collision by reducing the speed, and simultaneously transmits the data to an instrument desk through a CAN bus to prompt and perform acousto-optic early warning on abnormal driving conditions in front of the vehicle, and the system is a 'sensing-operation-execution-feedback' cyclic closed-loop process. The system is simple in structure and easy to realize, can automatically monitor the road condition in front of the vehicle in real time, and has the function of automatically activating the braking system.
Description
Technical Field
The invention relates to the technical field of vehicle active safety equipment, in particular to a safe driving auxiliary system for a commercial vehicle, which is based on fusion of vision and a millimeter wave radar.
Background
Commercial vehicles are vehicles designed and characterized for transporting people and goods, including all trucks and passenger cars with more than 9 seats. The road condition in front of the commercial vehicle is very important for safe driving, and the personal safety problem is directly involved. During the driving of the automobile, the road condition in front of the vehicle is the first and most concerned by all drivers. The complexity, the paroxysmal property and the instantaneity of the road condition in front during the driving process, the tiredness, the interference and other human physiological factors cause that a driver does not respond to the emergencies in time or does not respond properly. At this time, a reliable, accurate and timely safety driving assistance system is inevitably needed to assist the driver in handling the emergency.
At present, most of technical schemes of safe driving auxiliary systems are that a camera acquires image information, and a millimeter wave radar acquires directional target distance information, and then system response is carried out.
The camera can acquire environmental scene information, is an application of machine vision on the vehicle, and is a first big source for the automobile to acquire the environmental information. The method has unique points in lane departure, pedestrian recognition, signal lamp recognition and the like. When car the place ahead anticollision sensor use comparatively generally down be the monocular camera sensor, but the camera sensor can receive the influence of complicated weather such as heavy rain heavy fog to a certain extent, and the stadia can shorten.
The millimeter wave radar sensor is a radar with the working frequency selected from a frequency domain of 30-300 GHz (the wavelength is 1-10 mm, namely the millimeter wave band). The advantages are narrow beam, high angle resolution, wide frequency band, good concealment, strong anti-interference ability, strong penetration, small volume, light weight, long measurable distance, and all-weather operation all day long. Therefore, the millimeter wave radar (especially 77GHz millimeter wave radar) has excellent advantages in forward anti-collision sensing of target distance and azimuth. However, the millimeter wave radar has poor recognition capability, cannot accurately recognize the detailed characteristics of the object in front of the vehicle, and cannot be used for environmental factors such as sound and light.
In the driving process of a vehicle, the front road condition is very complex, the requirement on environment perception is extremely diverse and complex, the sensing working range of the sensor for the environmental factors is still to be perfected, and the AEBS (Advanced Emergency Braking System) still cannot play a perfect safety protection role under the condition that a 100% safe and complete sensor scheme does not exist.
Disclosure of Invention
The invention aims to provide a commercial vehicle safe driving auxiliary system based on fusion of vision and millimeter wave radar, wherein machine vision and millimeter wave radar are fused in the system, so that sensor data fusion is supplemented, the road condition in front of a vehicle is automatically monitored in real time, an ECU unit analyzes and processes the data to obtain more complete and accurate environmental factor sensing information, abnormal conditions are prompted and early-warned, and meanwhile, the system has the function of automatically activating a brake control system, and collision is avoided or reduced by reducing the speed.
In order to achieve the purpose, the invention adopts the technical scheme that a commercial vehicle safe driving auxiliary system based on the fusion of vision and millimeter wave radar comprises:
the fusion controller is arranged in a cab of the locomotive and is connected with a brake control system and an instrument desk of the vehicle through a CAN bus, the fusion controller activates the brake system of the vehicle through the brake control system, and the fusion controller prompts and performs acousto-optic early warning on abnormal running conditions in front of the vehicle through the instrument desk;
the front-view camera is arranged on the inner side of a front windshield of the vehicle, is aligned with and completely covers an area in front of the vehicle, acquires image data in front of the vehicle in real time, is connected with the fusion controller through a CAN bus, and sends the image data to the fusion controller through the CAN bus;
the millimeter wave radar is installed on a front bumper of the vehicle, collects spatial position data of an object in front of the vehicle in real time, is connected with the fusion controller through a CAN bus, and sends the spatial position data to the fusion controller through the CAN bus.
As an improvement of the invention, the fusion controller comprises a fusion controller shell and a PCB circuit board arranged in the shell, wherein a main control MCU, a CAN input interface, a CAN transceiver and a CAN circuit are arranged on the PCB circuit board, the CAN input interface is connected with the front-view camera and the millimeter wave radar through a CAN bus, the CAN input interface is connected with a data input end of the main control MCU through the CAN transceiver, and a data output end of the main control MCU is connected with a vehicle control bus through the CAN circuit.
As an improvement of the invention, the front-view camera comprises a camera shell, a camera module and a PCB (printed Circuit Board) arranged in the camera shell, wherein the PCB is provided with a control MCU, an image acquisition circuit, a CAN communication circuit and a CAN output interface, the camera module is convexly embedded and installed in an installation hole of the camera shell, the input end of the image acquisition circuit is connected with the camera module, the output end of the image acquisition circuit is connected with the data input end of the control MCU, the data output end of the control MCU is connected with the CAN output interface through the CAN communication circuit, and the CAN output interface is connected with the CAN input interface of the fusion controller through a CAN bus.
As an improvement of the invention, the millimeter wave radar comprises a radar shell, a high-frequency electronic scanning radar element and a PCB (printed Circuit Board) arranged in the radar shell, wherein the high-frequency electronic scanning radar element is convexly embedded in a mounting hole of the radar shell, the PCB is provided with a control MCU, a radar data acquisition circuit, a CAN communication circuit and a CAN output interface, the input end of the radar data acquisition circuit is connected with the high-frequency electronic scanning radar element, the output end of the radar data acquisition circuit is connected with the data input end of the control MCU, the data output end of the control MCU is connected with the CAN output interface through the CAN communication circuit, and the CAN output interface is connected with the CAN input interface of the fusion controller through a CAN bus.
As an improvement of the invention, the camera module is realized by adopting a camera sensor design with the model number OV 7670.
As an improvement of the invention, the high-frequency electronic scanning radar element adopts a high-grade ESR millimeter wave radar element Delphi-ESR2.5 produced by Delphi corporation with the emission waveband of 76-77 GHz.
As an improvement of the present invention, the image acquisition circuit is designed by using an 8-bit semi-flash architecture a/D converter TLC5510, and an analog signal input end of the TLC5510 is connected to a camera module; the radar data acquisition circuit is designed and realized by adopting a 12b single-channel A/D converter AD9235, and the A/D converter AD9235 adopts a differential operational amplifier AD8138 of an AD company as a driving chip.
As an improvement of the invention, the CAN communication circuit of the front-view camera and the CAN communication circuit of the millimeter wave radar are both designed and realized by adopting a CAN communication controller with the model number of SJA 1000.
As an improvement of the invention, the control MCU of the forward-looking camera and the control MCU of the millimeter wave radar are both realized by adopting the design of a 32-bit ARM processor STM32F072C8T6 single chip microcomputer chip.
As an improvement of the invention, the main control MCU is designed and realized by adopting a 32-bit ARM processor STM32F072C8T6 single chip microcomputer chip, and the CAN transceiver is designed and realized by adopting TJA 1054.
Compared with the prior art, the system provided by the invention has the advantages of ingenious overall structure design, reasonable and stable structure, easiness in installation and use and low manufacturing cost, on one hand, the wired long-distance transmission using the CAN bus as the single bus is used as a data transmission mode between the foresight camera and the millimeter wave radar and the fusion controller, the anti-interference capability is strong, and the cost advantage is obvious compared with other long-distance communication, so that the system has good popularization value; the data monitored by the sensor unit is transmitted in a long-distance and nondestructive mode, so that the performance stability and reliability of the safe driving auxiliary system are greatly improved; in addition, the fusion controller is interconnected with the whole vehicle control bus through a CAN circuit, so that actual monitoring data are displayed on a display screen of a display control center in real time, a driver CAN master the front state of the vehicle in real time, and the safe driving of the vehicle is ensured.
Drawings
Fig. 1 is a block diagram illustrating a safe driving assistance system for a commercial vehicle according to a preferred embodiment of the present invention.
Fig. 2 is a schematic diagram of the front camera in the system according to the preferred embodiment of the present invention.
Fig. 3 is a diagram of a front-view camera, a control MCU of a millimeter-wave radar, and peripheral circuits in the system according to the preferred embodiment of the present invention.
Fig. 4 is a circuit diagram of an image acquisition circuit of a front-view camera in the system according to the preferred embodiment of the present invention.
Fig. 5 is a CAN communication circuit diagram of a front-view camera and a millimeter wave radar in the system according to the preferred embodiment of the present invention.
Fig. 6 is a circuit diagram of a radar data acquisition circuit of a millimeter wave radar in the system according to the preferred embodiment of the present invention.
Fig. 7 is a circuit diagram of a main control MCU of the fusion controller in the system according to the preferred embodiment of the present invention.
Fig. 8 is a circuit diagram of a CAN transceiver of a fusion controller in a system according to a preferred embodiment of the present invention.
Detailed Description
For a better understanding and appreciation of the invention, it is further described and illustrated below in connection with the accompanying drawings.
As shown in fig. 1, the safety driving assistance system for a commercial vehicle based on vision and millimeter wave radar fusion according to the preferred embodiment of the present invention includes a front-view camera mounted on a front windshield of the vehicle, a millimeter wave radar mounted on a front bumper of the vehicle, and a fusion controller mounted in a cab of the vehicle. The front-view camera is provided with an independent image acquisition system, is connected into a 24V power supply system and is connected to the fusion controller in the cab of the locomotive through a CAN bus, acquires the visual data in front of the vehicle in real time and sends the data to the fusion controller in a wired mode through a CAN protocol. The millimeter wave radar is connected to the 12V power supply system and is connected with the fusion controller through the CAN bus, and the millimeter wave radar acquires the space position data of an object in front of the vehicle in real time and sends the data to the fusion controller in a wired mode through a CAN protocol. The fusion controller receives vision and space position data of an object in front of the vehicle, which are transmitted by the forward-looking camera and the millimeter wave radar, and performs processing operation, the fusion controller transmits a processing result to the vehicle braking control system, and the vehicle braking control system activates the vehicle braking system to avoid collision or reduce vehicle collision by reducing speed; meanwhile, data are transmitted to an instrument desk through a CAN bus, and prompt and acousto-optic early warning are carried out on abnormal running conditions in front of the vehicle.
As shown in fig. 2, a back glue area is arranged on the bottom plane of the front-view camera, and the front-view camera is fixed on a front windshield inside a vehicle in a sticking mode, so that the influence of rain, snow, fog, frost and other weather on the shooting effect of the front-view camera can be effectively avoided. The front-view camera is convenient to mount, can be repeatedly dismounted and mounted, and can change the position and the angle of the front-view camera according to needs. In addition, the front-view camera is also provided with an enlarging/reducing button, so that a driver can control the distance of the displayed image at any time, the design is more humanized, and the functions are more diversified.
The forward-looking camera comprises a camera shell, a camera module and a PCB (printed circuit board) arranged in the camera shell, wherein the PCB is provided with a control MCU (microprogrammed control unit), an image acquisition circuit, a CAN (controller area network) communication circuit, a CAN output interface, the camera module is embedded in the mounting hole of the camera shell in a protruding manner, the camera module is connected with the input end of the image acquisition circuit, the data input end of the image acquisition circuit is connected with the control MCU, the data output end of the control MCU is connected with the CAN output interface through the CAN communication circuit, and the CAN output interface is connected with the CAN input interface of the fusion controller through a CAN bus.
Preferably, the camera module adopts a mega pixel high-definition color camera module TELESKY-OV 7670.
Further, millimeter wave radar includes radar housing, high frequency electronic scanning radar component and set up the PCB circuit board in radar housing, high frequency electronic scanning radar component protrusion embedding is installed in radar housing's installation hole site, be equipped with control MCU on the PCB circuit board, radar data acquisition circuit, CAN communication circuit, CAN output interface, high frequency electronic scanning radar component is connected to radar data acquisition circuit's input, radar data acquisition circuit's output connection control MCU's data input end, control MCU's data output end passes through CAN communication circuit and connects CAN output interface, CAN output interface passes through CAN bus connection fusion controller's CAN input interface.
Preferably, the high-frequency electronic scanning radar element adopts a high-grade ESR millimeter wave radar element Delphi-ESR2.5 produced by Delphi corporation with a transmission waveband of 76-77 GHz.
Furthermore, the fusion controller comprises a fusion controller shell and a PCB circuit board arranged in the shell, a main control MCU, a CAN input interface, a CAN transceiver and a CAN circuit are arranged on the PCB circuit board, the CAN input interface is connected with the front-view camera and the millimeter wave radar through a CAN bus, the CAN input interface is connected with a data input end of the main control MCU through the CAN transceiver, and a data output end of the main control MCU is connected with a whole vehicle control bus, in particular a brake control system and an instrument desk, through the CAN circuit. In addition, the data output end of the main control MCU is also connected with a display screen of a display control center, and the front state of the vehicle is displayed in real time through the display screen so as to be mastered by a driver in real time, so that the safe running of the vehicle is ensured.
Furthermore, as shown in fig. 3, the control MCU of the front-view camera is implemented by a 32-bit ARM processor STM32F072C8T6 single chip microcomputer chip, and an I/O port of the STM32F103C8T6 chip is connected to a data output terminal of the image acquisition circuit.
As shown in fig. 4, the image acquisition circuit is designed by using an 8-bit semi-flash architecture a/D converter TLC5510, the TLC5510 can provide a sampling rate of 20Ms/s at most, the number of comparators is greatly reduced by using a CMOS process, a sample-and-hold circuit is built in the image acquisition circuit, the image acquisition circuit has a high-impedance parallel interface and an internal reference resistor, and an analog signal input terminal of the TLC5510 is connected to a camera module.
As shown in fig. 5, the CAN communication circuit of the front-view camera is implemented by a CAN communication controller of model SJA1000, the CAN communication controller integrates functions of a physical layer and a data link layer of a CAN protocol, CAN complete framing processing of communication data, and has the characteristics of a multi-master structure, bus access priority, hardware filtering and the like, and a working indicator lamp is connected to an RX0 pin and a TX0 pin of the SJA 1000.
Furthermore, as shown in fig. 3, the control MCU of the millimeter wave radar is designed by using a 32-bit ARM processor STM32F103C8T6 chip, and an I/O port of the STM32F103C8T6 chip is connected to a data output end of the radar data acquisition circuit.
As shown in fig. 6, the radar data acquisition circuit is designed and implemented by a 12b single-channel a/D converter AD9235, the a/D converter AD9235 adopts a differential operational amplifier AD8138 of the AD company as a driving chip, a single-side signal differential signal at the front end of the a/D converter AD9235 is designed and implemented by an AD8138, a Vocm pin of the AD8138 is connected with a VREF pin of the AD9235 and is grounded after being connected in series with a first capacitor C2, and a-OUT pin of the AD8138 is connected in series with a-OUT pinA VIN + pin of the AD9235 is connected behind the first resistor R23, a + OUT pin of the AD8138 is connected with a VIN-pin of the AD9235 behind the second resistor R24 IN series, and a-IN pin of the AD8138 is sequentially connected with a third resistor R IN series G2 and a second capacitor C1 connected with the data output end of the high-frequency electronic scanning radar element through an SMB joint, and a fourth resistor R connected IN series between the + OUT pin and the + IN pin of the AD8138FA fifth resistor R is connected between the-OUT pin and the-IN pin of the 1, AD8138 IN series F2, the + IN pin of the AD8138 is connected with a sixth resistor R IN series G1 and then grounded, and the PDWN pin of the AD9235 is grounded after being connected with a seventh resistor R25 in series.
As shown in fig. 5, the CAN communication circuit of the millimeter wave radar is implemented by a CAN communication controller of model SJA1000, the CAN communication controller integrates functions of a physical layer and a data link layer of a CAN protocol, CAN complete framing processing of communication data, and has the characteristics of a multi-master structure, bus access priority, hardware filtering and the like, and the working indicator lamps are connected to an RX0 pin and a TX0 pin of the SJA 1000.
Further, as shown in fig. 7, the main control MCU of the fusion controller is designed by using a 32-bit ARM processor STM32F072C8T6 monolithic chip, and an I/O port of the STM32F072C8T6 chip is connected to a data output terminal of the CAN transceiver. As shown in fig. 8, the CAN transceiver is implemented by adopting a TJA1054 chip design, a CANH pin and a CANL pin of the TJA1054 chip are connected to the CAN input interface, and an RXD pin and a TXD pin of the TJA1054 chip are connected to an RX pin and a TX pin of the main control MCU.
The technical means disclosed in the invention scheme are not limited to the technical means disclosed in the above embodiments, but also include the technical scheme formed by any combination of the above technical features. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and such improvements and modifications are also considered to be within the scope of the present invention.
Claims (10)
1. The utility model provides a commercial car safe driving auxiliary system based on vision and millimeter wave radar fuse which characterized in that: the method comprises the following steps:
the fusion controller is arranged in a cab of the locomotive and is connected with a brake control system and an instrument desk of the vehicle through a CAN bus, the fusion controller activates the brake system of the vehicle through the brake control system, and the fusion controller prompts and performs acousto-optic early warning on abnormal running conditions in front of the vehicle through the instrument desk; the CAN network system of the whole vehicle,
the front-view camera is arranged on the inner side of a front windshield of the vehicle, is aligned with and completely covers an area in front of the vehicle, acquires image data in front of the vehicle in real time, is connected with the fusion controller through a CAN bus, and sends the image data to the fusion controller through the CAN bus;
the millimeter wave radar is installed on a front bumper of the vehicle, collects spatial position data of an object in front of the vehicle in real time, is connected with the fusion controller through a CAN bus, and sends the spatial position data to the fusion controller through the CAN bus.
2. The vision and millimeter wave radar fusion based safe driving auxiliary system for commercial vehicles as claimed in claim 1, wherein the fusion controller comprises a fusion controller housing and a PCB circuit board arranged in the housing, the PCB circuit board is provided with a master control MCU, a CAN input interface, a CAN transceiver and a CAN circuit, the CAN input interface is connected with the front view camera and the millimeter wave radar through a CAN bus, the CAN input interface is connected with the data input end of the master control MCU through the CAN transceiver, and the data output end of the master control MCU is connected with the brake control system and the instrument desk in the vehicle control bus through the CAN circuit.
3. The vision and millimeter wave radar fusion based commercial vehicle safe driving auxiliary system as claimed in claim 1 or 2, wherein the forward-looking camera comprises a camera housing, a camera module and a PCB circuit board arranged in the camera housing, the PCB circuit board is provided with a control MCU, an image acquisition circuit, a CAN communication circuit and a CAN output interface, the camera module is embedded in a mounting hole of the camera housing in a protruding manner, the input end of the image acquisition circuit is connected with the camera module, the output end of the image acquisition circuit is connected with the data input end of the control MCU, the data output end of the control MCU is connected with the CAN output interface through the CAN communication circuit, and the CAN output interface is connected with the CAN input interface of the fusion controller through a CAN bus.
4. The system of claim 1, 2 or 3, wherein the millimeter wave radar comprises a radar housing, a high frequency electronically scanned radar element and a PCB disposed in the radar housing, the high frequency electronically scanned radar element is embedded in a protruding portion of the installation hole of the radar housing, the PCB is provided with a control MCU, a radar data acquisition circuit, a CAN communication circuit and a CAN output interface, the input end of the radar data acquisition circuit is connected with the high frequency electronically scanned radar element, the output end of the radar data acquisition circuit is connected with the data input end of the control MCU, the data output end of the control MCU is connected with the CAN output interface through the CAN communication circuit, and the CAN output interface is connected with the CAN input interface of the fusion controller through a CAN bus.
5. The vision and millimeter wave radar fusion-based commercial vehicle safe driving auxiliary system of claim 4, wherein the camera module is implemented by adopting a camera sensor design with model number OV 7670.
6. The vision-and millimeter-wave radar fusion-based safe driving assistance system for commercial vehicles as claimed in claim 5, wherein the high-frequency electronic scanning radar component employs a millimeter-wave radar component Delphi-ESR2.5 with a transmission band of 76-77 GHz.
7. The vision and millimeter wave radar fusion based commercial vehicle safe driving auxiliary system as claimed in claim 6, wherein the image acquisition circuit is designed by adopting an 8-bit semi-flash architecture A/D converter TLC5510, and an analog signal input end of the TLC5510 is connected with a camera module; the radar data acquisition circuit is designed and realized by adopting a 12b single-channel A/D converter AD9235, and the A/D converter AD9235 adopts a differential operational amplifier AD8138 as a driving chip.
8. The vision-and millimeter-wave radar-fusion-based commercial vehicle safe driving auxiliary system as claimed in claim 7, wherein the CAN communication circuit of the forward-looking camera and the CAN communication circuit of the millimeter-wave radar are both implemented by a CAN communication controller of model SJA 1000.
9. The vision and millimeter wave radar fusion-based commercial vehicle safe driving auxiliary system of claim 8, wherein the control MCU of the forward looking camera and the control MCU of the millimeter wave radar are both realized by adopting a 32-bit ARM processor STM32F072C8T6 single chip microcomputer chip design.
10. The vision and millimeter wave radar fusion-based commercial vehicle safe driving auxiliary system of claim 9, wherein the main control MCU is designed and realized by a 32-bit ARM processor STM32F072C8T6 single chip microcomputer chip.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112346047A (en) * | 2020-11-10 | 2021-02-09 | 许昌学院 | Micro embedded millimeter wave radar vision fusion system and product detection method |
| CN112455443A (en) * | 2020-11-12 | 2021-03-09 | 复旦大学 | Vehicle active braking system based on multi-sensor fusion |
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