CN112526507B - Collision prevention method and system combining radar and photoelectric scanning - Google Patents
Collision prevention method and system combining radar and photoelectric scanning Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000002265 prevention Effects 0.000 title description 7
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- 238000005516 engineering process Methods 0.000 description 4
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
Abstract
The invention discloses a collision avoidance method and a system combining radar and photoelectric scanning, which are applied to a vehicle, wherein the collision avoidance method comprises the following steps of S1: acquiring detection signals obtained by the radar device, and processing the detection signals to identify all detection objects in front of the vehicle; s2: acquiring the distance between each detection object and a vehicle and the azimuth of each detection object according to the detection signals, and marking the detection object closest to the vehicle as a target object; s3: controlling the photoelectric scanning device to rotate to the direction corresponding to the target object, tracking the target object by utilizing the photoelectric scanning device, and outputting target tracking information; the target tracking information comprises the running speed of the target object and the distance between the target object and the vehicle; s4: and generating a corresponding collision avoidance instruction according to the target tracking information, and sending the collision avoidance instruction to a vehicle-mounted system of the traffic tool. The invention can expand the detection range, improve the detection precision and improve the driving safety.
Description
Technical Field
The invention relates to the technical field of vehicle-mounted radar systems, in particular to a collision avoidance method and system combining radar and photoelectric scanning.
Background
At present, along with the development of technology and the progress of the era, unmanned technology is gradually rising, and more unmanned technologies are added into vehicle-mounted systems of electric automobiles, so that the purpose of unmanned of the vehicles in specific areas can be achieved. The core of the unmanned technology is that the sensor detects the state in front of the vehicle, and the sensor analyzes the detection result and then makes a corresponding collision prevention scheme, so that the vehicle can actively stop and avoid when the vehicle is blocked by an obstacle to advance, and the driving safety is improved.
However, the existing collision avoidance system has the following defects:
the existing radars are generally classified into mechanical radars, laser radars and millimeter wave radars, and because the existing mechanical radars scan a large-range environment by rotating the detection angle, the mechanical radars need a certain time period to complete the rotation action, so that the update speed of detection signals is relatively slow, and the vehicle distance cannot be accurately detected; if the laser radar is used for replacing the mechanical radar to improve the detection precision, the laser radar is high in price and short in service life, so that the cost of the vehicle is increased; if the millimeter wave radar which can work under the severe environment is simply used for replacing the mechanical radar, the detection accuracy is still not high, and the method is not suitable for being applied to a high-speed road section with relatively high running speed.
Disclosure of Invention
In order to overcome the defects of the prior art, one of the purposes of the invention is to provide a collision avoidance method combining radar and photoelectric scanning, which expands the detection range in a mode of combining the radar and the photoelectric scanning, improves the detection precision, and timely makes corresponding collision avoidance instructions to improve the driving safety.
The second purpose of the invention is to provide a collision avoidance system combining radar and photoelectric scanning, which can expand the scanning range, improve the detection precision and improve the driving safety.
One of the purposes of the invention is realized by adopting the following technical scheme:
a collision prevention method combining radar and photoelectric scanning is applied to a vehicle and comprises the following steps:
step S1: acquiring detection signals obtained by a radar device installed in a vehicle, and processing the detection signals to identify all detection objects in front of the vehicle;
step S2: acquiring the distance between each detection object and the vehicle and the azimuth of each detection object according to the detection signals, and marking the detection object closest to the vehicle as a target object;
step S3: controlling a photoelectric scanning device arranged in a vehicle to rotate to a direction corresponding to the target object, tracking the target object by utilizing the photoelectric scanning device, and outputting target tracking information; the target tracking information comprises the running speed of the target object and the distance between the target object and the vehicle;
step S4: generating a corresponding collision avoidance instruction according to the target tracking information, and sending the collision avoidance instruction to a vehicle-mounted system of the vehicle.
Further, the step S2 further includes:
acquiring a steering signal of the vehicle, and prejudging the running direction of the vehicle according to the steering signal;
and judging the distance between all the detection objects positioned in the running direction of the vehicle and the vehicle, and selecting at least one detection object which is closest to the vehicle from the distances as a target object.
Further, the step S1 further includes: and generating a detection picture according to the detection signal and sending the detection picture to an on-board system of the vehicle for display.
Further, the step S1 further includes: judging whether the detected object is a moving object or not according to the detection signals received by the radar device for multiple times, and if so, marking the moving object in a detection picture by a specified mark for display.
Further, after the step S3, the method further includes: and the target object picture scanned by the photoelectric scanning device is fused into the detection picture and is sent to the vehicle-mounted system for display.
Further, the method for generating the collision avoidance instruction in step S4 includes:
calculating the running acceleration of the target object according to the running speed of the target object, judging whether the running acceleration of the target object reaches a first preset value, and if so, generating a deceleration prompt instruction; or alternatively, the first and second heat exchangers may be,
and judging whether the distance between the target object and the vehicle is smaller than a second preset value, and if so, generating an emergency braking instruction.
The second purpose of the invention is realized by adopting the following technical scheme:
a collision avoidance system combining radar and photoelectric scanning, executing the collision avoidance method combining radar and photoelectric scanning, comprises:
at least two radar devices arranged at the front end of the vehicle, wherein the detection ranges of adjacent radar devices partially coincide;
at least one photoelectric scanning device arranged at the front end of the vehicle and positioned between adjacent radar devices;
the central control module is connected with the radar device and the photoelectric scanning device and is used for analyzing the data acquired by the radar device and the photoelectric scanning device; the central control module is in signal bidirectional communication with the vehicle-mounted system of the vehicle.
Further, the radar apparatus emits electromagnetic wave signals in the millimeter wave band.
Further, the radar devices are symmetrically distributed on the left side and the right side of the branching line in the vehicle respectively, and the detection range of the radar devices positioned on the right side of the branching line in the vehicle is a range covered by anticlockwise rotation by 120 degrees along a horizontal line where the front end of the vehicle is positioned; the detection range of the radar device positioned at the left side of the branching line in the vehicle is a range covered by a clockwise rotation of 120 degrees along the horizontal line where the front end of the vehicle is positioned.
Further, the photoelectric scanning device is provided with a rotation angle of 0-180 degrees.
Compared with the prior art, the invention has the beneficial effects that:
firstly, all detection objects in front of a vehicle are identified by utilizing a radar device, and then the running speed and the vehicle distance of a target object closest to the vehicle are accurately tracked by a photoelectric scanning device, so that a collision avoidance system can obtain a large detection range, high-precision detection precision can be realized, and the driving safety is improved.
Drawings
FIG. 1 is a schematic view of the radar apparatus and the photoelectric scanning apparatus of the present invention applied to an automobile;
FIG. 2 is a block schematic diagram of a collision avoidance system of the present invention;
FIG. 3 is a schematic flow chart of the collision avoidance method of the present invention.
In the figure: 1. a radar device; 2. a photoelectric scanning device; 3. a central control module; 4. an in-vehicle system.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and detailed description, wherein it is to be understood that, on the premise of no conflict, the following embodiments or technical features may be arbitrarily combined to form new embodiments.
Example 1
The embodiment discloses a collision avoidance system combining radar and photoelectric scanning, which can be applied to vehicles such as automobiles, ships and the like, so that the vehicles can accurately and widely identify objects in front of the vehicles during running, corresponding collision avoidance measures can be timely made, and the running safety of the vehicles is improved.
The collision avoidance system of the embodiment comprises a radar device 1, a photoelectric scanning device 2 and a central control module 3, wherein the radar device 1 is arranged at the front end and the rear end of a vehicle and is used for detecting the conditions of the front side and the rear side of the vehicle; in the present embodiment, the radar device 1 is provided only at the front end of the vehicle for detecting the situation in front of the vehicle; the number of the radar devices 1 at the front end of the vehicle is at least two, so that the detection range of the radar devices 1 can be enlarged; in this embodiment, as shown in fig. 1, two radar devices 1 are disposed at the front end of a vehicle, and the two radar devices 1 are symmetrically distributed on the left and right sides of a branching line O in the vehicle, and the detection range of the radar device 1 located on the right side of the branching line O in the vehicle is a range covered by a 120 ° counterclockwise rotation along a horizontal line where the front end of the vehicle is located; the detection range of the radar device 1 located at the left side of the branching line O in the vehicle is a range covered by 120 ° of clockwise rotation along the horizontal line where the front end of the vehicle is located, and the detection ranges of the two radar devices 1 are partially overlapped at the position of the branching line O in the vehicle, so that the radar overall detection range of the collision avoidance system in the embodiment is a 180 ° range in front of the vehicle, and if the collision avoidance system is applied to an automobile, the radar detection range of the collision avoidance system can cover lanes where the vehicle is located and lanes on the left and right sides of the vehicle, and the detection range is enlarged.
In the present embodiment, the radar apparatus 1 is a radar apparatus 1 capable of emitting an electromagnetic wave signal in a millimeter wave band, and after the radar apparatus 1 emits the electromagnetic wave signal in the millimeter wave band, the radar apparatus 1 receives a detection signal reflected by an object in a detection range; the millimeter wave radar has a relatively long detection distance and works stably in various severe environments such as rainy and snowy weather.
In this embodiment, the front end of the vehicle is further provided with at least one photoelectric scanning device 2, the photoelectric scanning device 2 can scan the environment in front of the vehicle, and in this embodiment, the photoelectric scanning device 2 is provided with a rotation angle of 0-180 °, and the photoelectric scanning device 2 is located between adjacent radar devices 1, and optimally, the photoelectric scanning device 2 is arranged on a branching line O in the vehicle, so that the photoelectric scanning device 2 can complete scanning of the scanning range of 180 ° in front of the vehicle through rotation. In the present embodiment, the photoelectric scanning device 2 may be configured as a laser scanner, and the scanning accuracy may be improved by emitting laser light to scan the environment in front of the vehicle.
As shown in fig. 2, the photoelectric scanning device 2 and the radar device 1 are both connected with the central control module 3, and the photoelectric scanning device 2 and the radar device 1 send data obtained by respective scanning detection to the central control module 3 to analyze the data acquired by the radar device 1 and the photoelectric scanning device 2; the central control module 3 is in signal bidirectional communication with the vehicle-mounted system 4 of the vehicle, and the central control module 3 can acquire the current parameters of the steering signal, the accelerator signal, the brake signal and the like of the vehicle from the vehicle-mounted system 4 and send the parameters to the central control module 3 for collision avoidance analysis; meanwhile, the central control module 3 can also send the collision prevention result obtained by analysis to the vehicle-mounted system 4 for execution, and control the vehicle-mounted system 4 to perform corresponding operations such as speed reduction, braking or reminding.
Example two
The embodiment provides a collision avoidance method combining radar and photoelectric scanning, which is applied to the collision avoidance system in the embodiment one and mainly relates to a signal processing method of the central control module 3. As shown in FIG. 3, the collision avoidance method comprises the following steps:
step S1: the detection signals obtained by the radar device 1 installed in the vehicle are acquired, and the detection signals are processed to identify all the detection objects in front of the vehicle.
Since the detection signal is obtained by the radar device 1 sending out the electromagnetic wave and reflecting the electromagnetic wave back from the object, when the radar device 1 obtains the reflected detection signal, the object in the detection range can be identified; after receiving the detection signal reflected by the object in the detection range, the radar device 1 compares the transmitted electromagnetic wave signal with the reflected detection signal, so that the azimuth and the speed of the object in the detection range and the distance between the object and the current vehicle can be identified.
In addition, the detection signals can be converted into digital signals according to the obtained detection signals, a detection picture is generated, all detected objects are marked in the detection picture, and the detection picture is sent to the vehicle-mounted system 4 of the vehicle for display after being formed, so that a user can view the vehicle condition in front of the vehicle in the vehicle-mounted display screen.
Step S2: and acquiring the distance between each detection object and the vehicle and the azimuth of each detection object according to the detection signals, and marking the detection object closest to the vehicle as a target object.
Due to the insufficient detection precision of the radar device 1, a certain error may exist in the detection data of the vehicle condition in front of the vehicle, so that the corresponding collision prevention operation cannot be timely performed, and traffic accidents are caused; therefore, the detected object closest to the current vehicle is marked as a target object, the information of the target object is tracked by utilizing the photoelectric scanning device 2, the vehicle condition of the target object closest to the current vehicle is accurately detected, and the accurate collision prevention operation can be timely performed.
In addition, when the vehicle is in a state of turning or changing lanes, the object closest to the vehicle may be different from the object corresponding to the vehicle in a state of straight-path driving, so that the determination of the object needs to be considered in combination with the driving direction of the vehicle, specifically as follows:
firstly, the central control module 3 acquires a steering signal of a vehicle from an on-board system 4 of the vehicle, and predicts the running direction of the vehicle according to the steering signal; the steering signal can be generated according to the mode that a user dials the steering indicator lamp, and can also be generated according to the mode that the user rotates the steering wheel angle; when a user dials the left turn indicator lamp, a left turn signal is generated at the moment, and the vehicle is predicted to drive in a left turn; or when the single user rotates the steering wheel anticlockwise and the rotation angle is larger than a preset standard value, a left turn signal can be generated, and the vehicle is predicted to drive in a left turn mode.
After the running direction of the vehicle is determined, marking all detection objects in the running direction, judging the distance between all detection objects in the running direction of the vehicle and the current vehicle, selecting at least one detection object with the nearest distance to the vehicle as a target object, tracking the information of the target object by using the photoelectric scanning device 2, and displaying in a detection picture to prompt a user to pay attention to the vehicle condition of the target object in the running direction so as to avoid accidents caused by too close vehicle distance.
When the steering of the vehicle is completed, the steering indicator is turned off or the steering wheel resumes the angle corresponding to the straight running, the running direction can be regarded as the straight running, and the target object resumes to be the object closest to the current vehicle in the straight running direction.
Meanwhile, the radar device 1 emits electromagnetic wave signals for a plurality of times in the detection process, whether the detected object is a moving object can be judged according to the plurality of detection signals received by the radar device 1, the judging method needs to combine the current speed of the vehicle, the current speed of the vehicle can be calculated by acquiring an accelerator signal and a brake signal of the vehicle, the radar device 1 detects the moving speed and the moving direction of the object in front of the vehicle, if the moving speed and the moving direction of the object do not accord with the current speed and the current moving direction of the vehicle, the object can be considered as the moving object, and at the moment, the object is marked in a detection picture in a key way of a specified mark for displaying, so that a user is reminded of the moving condition of the moving object; wherein the specified identification may be presented by a color, for example a moving object may be displayed yellow in the detection screen and a non-moving object may be displayed gray in the detection screen.
Step S3: controlling the photoelectric scanning device 2 to rotate to the direction corresponding to the target object, tracking the target object by utilizing the photoelectric scanning device 2, and outputting target tracking information; the target tracking information includes a travel speed of the target object and a distance between the target object and the vehicle.
After determining the target object, the radar device 1 obtains the azimuth of the target object, and controls the photoelectric scanning device 2 to rotate to an angle opposite to the target object, so that the photoelectric scanning device 2 can accurately scan the condition of the target object and track the target object, namely, the photoelectric scanning device 2 moves along with the target object when the target object moves, so as to obtain target tracking information such as the current running speed of the target object and the vehicle distance between the target object and the current vehicle; when the radar device 1 detects that the object closest to the current vehicle in the current driving direction is other objects, the object is switched in time, the photoelectric scanning device 2 is controlled to rotate to the angle where the new object is located, the new object is tracked, and the detection precision is improved.
Meanwhile, the central control module 3 fuses the target object picture obtained by scanning by the photoelectric scanning device 2 into the detection picture and sends the target object picture to the vehicle-mounted system 4 for display. The display mode of the target object in the detection picture can be presented by a mode of designating colors, for example, the display colors of all detection objects in the detection picture are gray, and the display color of the selected target object is red, so as to prompt a user to pay attention to the vehicle condition of the target object at any time.
Step S4: and generating a corresponding collision avoidance instruction according to the target tracking information, and sending the collision avoidance instruction to the vehicle-mounted system 4 of the vehicle.
The photoelectric scanning device 2 sends the actually obtained running speed of the target object to the central control module 3, the central control module 3 calculates the running acceleration of the target object according to the running speeds of the target object at different moments and judges whether the running acceleration of the target object reaches a first preset value, if yes, the operation of sudden braking of the target object vehicle is indicated, therefore, a deceleration prompt instruction or an emergency braking instruction is immediately generated at the moment and is sent to the vehicle-mounted system 4, and a user is prompted to simultaneously enable the vehicle to automatically execute deceleration or braking operation so as to achieve the collision avoidance effect.
In addition, the corresponding collision avoidance operation can be performed by judging whether the distance between the target object and the vehicle is smaller than a second preset value, if the distance between the target object and the current vehicle is smaller than the first preset value, the distance between the target object and the current vehicle is considered to be too small, and traffic accidents are easy to occur, so that a deceleration prompt instruction or an emergency braking instruction is generated.
In order to improve the accuracy of control, the first preset value and the second preset value can be further divided into preset ranges of a plurality of stages, and when the acceleration or the vehicle distance of the target object falls into the preset ranges of different stages, corresponding deceleration or braking operation is performed; meanwhile, the current speed of the current vehicle is combined, for example, when the current speed per hour of the current vehicle is 100 kilometers per hour, when the distance between the target object and the current vehicle is in the range of 60-80 meters, a deceleration prompt operation is performed to prompt a user to decelerate; when the distance between the target object and the current vehicle is 40-60 meters, the vehicle automatically performs a deceleration operation to slow down the current speed; when the distance between the target object and the current vehicle is smaller than 40 meters, the vehicle makes emergency braking operation. The preset ranges of the different stages can be obtained according to a large number of experiments, and are not particularly limited herein.
The above embodiments are only preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, but any insubstantial changes and substitutions made by those skilled in the art on the basis of the present invention are intended to be within the scope of the present invention as claimed.
Claims (2)
1. A collision avoidance method combining radar with photoelectric scanning, applied in a vehicle, comprising:
step S1: acquiring detection signals obtained by a radar device installed in a vehicle, and processing the detection signals to identify all detection objects in front of the vehicle;
step S2: acquiring the distance between each detection object and the vehicle and the azimuth of each detection object according to the detection signals, and marking the detection object closest to the vehicle as a target object;
step S3: controlling a photoelectric scanning device arranged in a vehicle to rotate to a direction corresponding to the target object, tracking the target object by utilizing the photoelectric scanning device, and outputting target tracking information; the target tracking information comprises the running speed of the target object and the distance between the target object and the vehicle;
step S4: generating a corresponding collision avoidance instruction according to the target tracking information, and sending the collision avoidance instruction to a vehicle-mounted system of a vehicle;
the step S2 further includes:
acquiring a steering signal of the vehicle, and prejudging the running direction of the vehicle according to the steering signal;
judging the distance between all detection objects located in the running direction of the vehicle and the vehicle, and selecting at least one detection object with the closest distance to the vehicle from the distance as a target object;
the step S1 further comprises the following steps: generating a detection picture according to the detection signal and sending the detection picture to a vehicle-mounted system of the vehicle for display;
the step S1 further comprises the following steps: judging whether the detected object is a moving object or not according to the multiple detection signals received by the radar device, and if so, marking the detected object in a detection picture by a specified mark for display;
the step S3 further includes: the target object picture scanned by the photoelectric scanning device is fused into the detection picture and is sent to a vehicle-mounted system for display;
the method for generating the collision avoidance instruction in the step S4 is as follows:
calculating the running acceleration of the target object according to the running speed of the target object, judging whether the running acceleration of the target object reaches a first preset value, and if so, generating a deceleration prompt instruction; or alternatively, the first and second heat exchangers may be,
and judging whether the distance between the target object and the vehicle is smaller than a second preset value, and if so, generating an emergency braking instruction.
2. A collision avoidance system combining radar with photoelectric scanning, wherein the collision avoidance method of claim 1 is performed, comprising:
at least two radar devices arranged at the front end of the vehicle, wherein the detection ranges of adjacent radar devices partially coincide;
at least one photoelectric scanning device arranged at the front end of the vehicle and positioned between adjacent radar devices;
the central control module is connected with the radar device and the photoelectric scanning device and is used for analyzing the data acquired by the radar device and the photoelectric scanning device; the central control module is in signal bidirectional communication with a vehicle-mounted system of the vehicle;
the radar device sends out electromagnetic wave signals of millimeter wave frequency bands;
the radar devices are symmetrically distributed on the left side and the right side of a branching line in the vehicle respectively, and the detection range of the radar devices positioned on the right side of the branching line in the vehicle is a range covered by anticlockwise rotation by 120 degrees along a horizontal line where the front end of the vehicle is positioned; the detection range of the radar device positioned at the left side of the branching line in the vehicle is a range covered by rotating clockwise by 120 degrees along the horizontal line where the front end of the vehicle is positioned;
the photoelectric scanning device is provided with a rotation angle of 0-180 degrees.
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