CN113552590A - Car rear early warning system based on laser radar - Google Patents
Car rear early warning system based on laser radar Download PDFInfo
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- CN113552590A CN113552590A CN202010333885.2A CN202010333885A CN113552590A CN 113552590 A CN113552590 A CN 113552590A CN 202010333885 A CN202010333885 A CN 202010333885A CN 113552590 A CN113552590 A CN 113552590A
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- 238000001514 detection method Methods 0.000 claims abstract description 25
- 238000011897 real-time detection Methods 0.000 claims description 40
- 230000007613 environmental effect Effects 0.000 abstract description 6
- 230000004888 barrier function Effects 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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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
- 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
- G01S17/08—Systems determining position data of a target for measuring distance only
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Traffic Control Systems (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The application relates to a technology for detecting obstacles behind a vehicle, in particular to a vehicle rear early warning system based on a laser radar. The system comprises a control unit, a reminding unit and a plurality of laser radars, wherein the laser radars are arranged at the rear part of a vehicle body and used for detecting towards the rear part of the vehicle and sending real-time distance data to the control unit; the control unit is respectively communicated with the laser radar and the reminding unit, and is used for receiving the real-time distance data, comparing the real-time distance data with a pre-stored threshold value, judging whether an obstacle enters a detection area or not according to a comparison result, and sending a signal to the reminding unit when the obstacle is judged to exist; the reminding unit receives the signal and sends out reminding to a driver and a rear vehicle. This application adopts laser radar to survey the car rear as detecting device, and laser radar detection frequency is high, and reaction rate is fast, can survey the barrier in real time, and laser radar environmental suitability is good, can work under the dark surrounds, satisfies the detection requirement.
Description
Technical Field
The application relates to a technology for detecting obstacles behind a vehicle, in particular to a vehicle rear early warning system based on a laser radar.
Background
At present, the existing vehicle rear obstacle detection usually adopts sensor technologies such as ultrasonic waves and cameras. The ultrasonic detection technology has the problems of large ultrasonic field angle, unstable distance measurement, incapability of keeping up with the detection speed and incapability of detecting obstacles in real time. Whether a rear obstacle can be quickly identified on the highway is important, and the risk that the vehicle collides with the rear obstacle easily occurs due to unstable ultrasonic ranging.
Adopt the camera to survey then there can't work under the dark condition, need increase the light filling in car rear both sides, the restriction is more, and environmental suitability is poor. Therefore, a detection system capable of detecting an obstacle behind a vehicle in real time and having good environmental adaptability is required.
Disclosure of Invention
The embodiment of the application provides a rear warning system for a vehicle, and solves the problem that the prior art cannot give consideration to real-time detection and environmental adaptability.
To achieve the purpose, the embodiment of the application adopts the following technical scheme:
on one hand, the vehicle rear early warning system based on the laser radar comprises a control unit, a reminding unit and a plurality of laser radars,
the laser radar is arranged at the rear part of the vehicle body and used for detecting the rear part of the vehicle and sending real-time distance data to the control unit;
the control unit is respectively communicated with the laser radar and the reminding unit in an information mode and is used for receiving the real-time distance data, comparing the real-time distance data with a pre-stored threshold value, judging whether an obstacle enters a detection area or not according to a comparison result, and sending a signal to the reminding unit when the obstacle is judged to exist;
the reminding unit receives the signal and sends out reminding to a driver and a rear vehicle.
In a possible implementation mode, the laser radar is arranged behind the vehicle and the height is 30-80 cm.
In a possible implementation mode, the laser radar is arranged behind the vehicle and the height is 40-60 cm.
In a possible implementation manner, the number of the laser radars is 2, and the distance between the laser radars is 1-3 meters.
In a possible implementation manner, the laser radar is a single-point laser radar or an area array laser radar.
In a possible implementation manner, the control unit prestores a threshold, when no obstacle is in the detection area, the real-time detection distance of the laser radar is greater than the preset threshold, and the control unit judges that no obstacle exists; when an obstacle is in the detection area, the real-time detection distance of the laser radar is smaller than a preset threshold value, and the control unit judges that the obstacle exists.
In a possible implementation manner, the size of the pre-stored threshold is 50-200 m.
In a possible implementation manner, the pre-stored threshold is divided into a first threshold, a second threshold, a third threshold and a fourth threshold, and the control unit compares the real-time detection distance with the first threshold, the second threshold, the third threshold and the fourth threshold to obtain different comparison results and controls the reminding unit to send different prompts.
In a possible implementation manner, when both the two laser radars are greater than a first threshold value, the control unit judges that no obstacle exists;
when the real-time detection distance of one laser radar is greater than a first threshold value and one laser radar is smaller than the first threshold value and greater than a second threshold value, the control unit controls the reminding unit to send a prompt 1;
when the real-time detection distance of one laser radar is greater than a first threshold value and one laser radar is smaller than a second threshold value and greater than a third threshold value, the control unit controls the reminding unit to send out a prompt 2;
when the real-time detection distance of one laser radar is greater than a first threshold value and one laser radar is smaller than a third threshold value and greater than a fourth threshold value, the control unit controls the reminding unit to send out a prompt 3;
when the real-time detection distances of the two laser radars are both smaller than a first threshold and larger than a second threshold, the control unit controls the reminding unit to send out a prompt 4;
when the real-time detection distance of one laser radar is smaller than a first threshold and larger than a second threshold and one laser radar is smaller than the second threshold and larger than a third threshold, the control unit controls the reminding unit to send a prompt 5;
when the real-time detection distance of one laser radar is smaller than a first threshold and larger than a second threshold and one laser radar is smaller than a third threshold and larger than a fourth threshold, the control unit controls the reminding unit to send out a prompt 6;
when the real-time detection distance of one laser radar is smaller than the second threshold and larger than the third threshold, the control unit controls the reminding unit to send out a prompt 7;
when the real-time detection distance of one laser radar is smaller than a second threshold and larger than a third threshold and one laser radar is smaller than the third threshold and larger than a fourth threshold, the control unit controls the reminding unit to send a prompt 8;
and when the real-time detection distances of the two laser radars are both smaller than a third threshold and larger than a fourth threshold, the control unit controls the reminding unit to send out a prompt 9.
In a possible implementation mode, the reminding unit is divided into an in-vehicle reminding device and an out-vehicle reminding device, the in-vehicle reminding device is arranged in the cockpit, and the out-vehicle reminding device is arranged outside the vehicle.
This application embodiment adopts laser radar to survey the car rear as detection device, and laser radar detection frequency is high, and reaction rate is fast, can survey the barrier in real time, and laser radar environmental suitability is good, can work under dark environment, satisfies the detection requirement.
Drawings
Fig. 1 is a schematic diagram of module connection according to an embodiment of the present application.
Fig. 2 is a side view of an embodiment of the present application.
Fig. 3 is a front view of an embodiment of the present application.
In the figure: 1. a control unit; 2. a reminding unit; 3. a laser radar; 4. an obstacle; 5. an in-vehicle reminder; 6. reminding device outside the car.
Detailed Description
The technical scheme of the application is further explained by the specific implementation mode in combination with the attached drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or device that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or device.
The embodiment of the application.
As shown in fig. 1 and fig. 2, a vehicle rear warning system based on laser radar comprises a control unit 1, a reminding unit 2, a plurality of laser radars 3,
the laser radar 3 is arranged at the rear part of the vehicle body 7 and used for detecting towards the rear part of the vehicle and sending real-time distance data to the control unit 1;
the control unit 1 is respectively in information communication with the laser radar 3 and the reminding unit 2, and is used for receiving the real-time distance data, comparing the real-time distance data with a pre-stored threshold value, judging whether an obstacle 4 enters a detection area or not according to a comparison result, and sending a signal to the reminding unit when the obstacle 4 is judged to exist;
the reminding unit 2 receives the signal and sends out reminding to the driver and the rear vehicle.
This application embodiment adopts laser radar 3 to survey the car rear as detection device, and laser radar 3 is to predetermineeing the direction emergent light, and laser radar 3 has detection frequency height, and the fast advantage of reaction rate, consequently can survey the barrier in real time, and 3 environmental suitability of laser radar are good, can work under dark environment, satisfy the detection requirement.
The laser radar 3 also has the advantages of small angle and small volume, can adapt to the requirements of different environments and is convenient to install.
The control unit 1 selects a microprocessor, receives the real-time distance data, compares the real-time distance data with a pre-stored threshold value, judges whether an obstacle 4 enters a detection area according to a comparison result, and sends a signal to the reminding unit 2 when the obstacle 4 is judged to exist; and the reminding unit 2 sends out reminding to a driver and a rear vehicle after receiving the signal for judging the existence of the obstacle, and keeps the distance between the vehicles. The reminding mode is generally voice prompt, siren, buzzer, light signal, etc.
The laser radar 3 is arranged behind the vehicle, and the setting height is 30-80 cm.
The laser radar 3 is arranged behind the vehicle, and the setting height is 40-60 cm.
Because the vertical field angle of the radar is small, the radar is installed at a long distance, such as 100-200m, radar spots can hit a position higher than a rear obstacle, and the rear obstacle cannot be detected; when the installation is too low and the distance is detected at 100-200m, the ground is easy to detect, false alarm is caused, and the setting height can be selected to meet the application requirement.
As shown in fig. 3, the number of the laser radars 3 is 2, and the distance between the laser radars 3 is 1-3 meters.
The blind area can be reduced by adopting two laser radars 3, and the distance between the laser radars is approximately equal to the width of the vehicle.
The laser radar 3 is a single-point laser radar or an area array laser radar.
The single-point laser radar has long detection distance and the area array laser radar has good blind-repairing effect in short distance.
The control unit 1 prestores a threshold value, when the barrier-free object 4 is in the detection area, the real-time detection distance of the laser radar is larger than the preset threshold value, and the control unit 1 judges that the barrier-free object exists; when the obstacle 4 is in the detection area, the real-time detection distance of the laser radar is smaller than a preset threshold value, and the control unit 1 judges that the obstacle 4 exists.
The size of the pre-stored threshold is 50-200 m.
The pre-stored threshold is set to be 50-200m, namely when the distance between the rear vehicle and the vehicle of the side is 50-200m, the driver and the rear vehicle are reminded to avoid, and when the pre-stored threshold is too small, the distance between the rear vehicle and the side is too close, so that certain risk exists; too far, the requirement on the output power of the laser radar is too high, the overall structure of the laser radar is enlarged, and meanwhile, the power consumption is large.
The pre-stored threshold is divided into a first threshold, a second threshold, a third threshold and a fourth threshold, the control unit 1 compares the real-time detection distance with the first threshold, the second threshold, the third threshold and the fourth threshold to obtain different comparison results, and controls the reminding unit 2 to send different prompts.
The laser radar 3 can set different threshold distances, measure the distance and different threshold distances in real time, and generate alarm sounds with different frequencies according to different comparison results for warning rear vehicles and obstacles.
When the two laser radars 3 are both larger than the first threshold value, the control unit judges that no obstacle exists;
when the real-time detection distance of one laser radar 3 is greater than a first threshold value and one laser radar 3 is smaller than the first threshold value and greater than a second threshold value, the control unit 1 controls the reminding unit 2 to send out a prompt 1;
when the real-time detection distance of one laser radar 3 is greater than a first threshold value and one laser radar 3 is smaller than a second threshold value and greater than a third threshold value, the control unit controls the reminding unit 2 to send out a prompt 2;
when the real-time detection distance of one laser radar 3 is greater than a first threshold value and one laser radar 3 is smaller than a third threshold value and greater than a fourth threshold value, the control unit 1 controls the reminding unit 2 to send out a prompt 3;
when the real-time detection distances of the two laser radars 3 are both smaller than a first threshold and larger than a second threshold, the control unit controls the reminding unit to send a prompt 4;
when the real-time detection distance of one laser radar 3 is smaller than a first threshold and larger than a second threshold and the real-time detection distance of one laser radar 3 is smaller than the second threshold and larger than a third threshold, the control unit 1 controls the reminding unit 2 to send out a prompt 5;
when the real-time detection distance of one laser radar 3 is smaller than a first threshold and larger than a second threshold, and the real-time detection distance of one laser radar 3 is smaller than a third threshold and larger than a fourth threshold, the control unit 1 controls the reminding unit 2 to send out a prompt 6;
when the real-time detection distance of one laser radar 3 is smaller than the second threshold and larger than the third threshold, the control unit 1 controls the reminding unit 2 to send out a prompt 7;
when the real-time detection distance of one laser radar 3 is smaller than a second threshold and larger than a third threshold and the real-time detection distance of one laser radar 3 is smaller than the third threshold and larger than a fourth threshold, the control unit 1 controls the reminding unit 2 to send out a prompt 8;
when the real-time detection distances of the two laser radars 3 are both smaller than a third threshold and larger than a fourth threshold, the control unit 1 controls the reminding unit 2 to send out a prompt 9.
The first threshold is set to 180-200 meters, the second threshold is set to 140-160 meters, the third threshold is set to 80-120 meters, and the fourth threshold is set to 0-10 meters. The cues 1 to 9 are set as required, and are generally acousto-optic signals, vibration signals and the like.
The reminding unit 2 is divided into an in-vehicle reminding device 5 and an out-vehicle reminding device 6, the in-vehicle reminding device 5 is arranged in a cockpit, and the out-vehicle reminding device 6 is arranged outside a vehicle.
Two outside-vehicle reminding devices 6 are arranged behind the vehicle, the installation distance is 1-3m, and the installation height is not limited. When the rear barrier is in the range of different threshold values of the radar, the vehicle exterior reminding device 6 sends out alarm sound with different frequencies or light signals with different colors and frequencies to remind the rear vehicle of slowly moving, so that traffic accidents are prevented.
The in-vehicle reminding device 5 is arranged in a cockpit, and buzzes for alarming when an obstacle appears behind a vehicle to remind a driver in the vehicle of paying attention to the obstacle behind the vehicle.
The technical principles of the present application have been described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the present application and is not to be construed in any way as limiting the scope of the application. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present application without inventive effort, which shall fall within the scope of the present application.
Claims (10)
1. A vehicle rear early warning system based on laser radars is characterized by comprising a control unit, a reminding unit and a plurality of laser radars,
the laser radar is arranged at the rear part of the vehicle body and used for detecting the rear part of the vehicle and sending real-time distance data to the control unit;
the control unit is respectively communicated with the laser radar and the reminding unit in an information mode and is used for receiving the real-time distance data, comparing the real-time distance data with a pre-stored threshold value, judging whether an obstacle enters a detection area or not according to a comparison result, and sending a signal to the reminding unit when the obstacle is judged to exist;
the reminding unit receives the signal and sends out reminding to a driver and a rear vehicle.
2. The lidar based rear warning system of claim 1, wherein the lidar is disposed behind a vehicle at a height of 30-80 cm.
3. The lidar based rear warning system of claim 2, wherein the lidar is disposed at a height of 40-60cm behind the vehicle.
4. The lidar-based vehicle rear warning system according to claim 3, wherein the number of the lidar is 2, and the spacing between the lidar is 1-3 meters.
5. The lidar-based vehicle rear warning system of claim 4, wherein the lidar is a single point lidar or an area array lidar.
6. The vehicle rear warning system based on the laser radar as claimed in claim 5, wherein the control unit prestores a threshold value, when no obstacle exists in the detection area, the real-time detection distance of the laser radar is greater than the preset threshold value, and the control unit judges that no obstacle exists; when an obstacle is in the detection area, the real-time detection distance of the laser radar is smaller than a preset threshold value, and the control unit judges that the obstacle exists.
7. The lidar based rear warning system of claim 6, wherein the pre-stored threshold value is 50-200 m.
8. The laser radar-based vehicle rear early warning system according to claim 7, wherein the pre-stored threshold is divided into a first threshold, a second threshold, a third threshold and a fourth threshold, the control unit compares the real-time detection distance with the first threshold, the second threshold, the third threshold and the fourth threshold to obtain different comparison results, and controls the reminding unit to send different prompts.
9. The lidar based vehicle rear warning system of claim 7, wherein the control unit determines no obstacle when both of the two lidar are greater than a first threshold;
when the real-time detection distance of one laser radar is greater than a first threshold value and one laser radar is smaller than the first threshold value and greater than a second threshold value, the control unit controls the reminding unit to send a prompt 1;
when the real-time detection distance of one laser radar is greater than a first threshold value and one laser radar is smaller than a second threshold value and greater than a third threshold value, the control unit controls the reminding unit to send out a prompt 2;
when the real-time detection distance of one laser radar is greater than a first threshold value and one laser radar is smaller than a third threshold value and greater than a fourth threshold value, the control unit controls the reminding unit to send out a prompt 3;
when the real-time detection distances of the two laser radars are both smaller than a first threshold and larger than a second threshold, the control unit controls the reminding unit to send out a prompt 4;
when the real-time detection distance of one laser radar is smaller than a first threshold and larger than a second threshold and one laser radar is smaller than the second threshold and larger than a third threshold, the control unit controls the reminding unit to send a prompt 5;
when the real-time detection distance of one laser radar is smaller than a first threshold and larger than a second threshold and one laser radar is smaller than a third threshold and larger than a fourth threshold, the control unit controls the reminding unit to send out a prompt 6;
when the real-time detection distance of one laser radar is smaller than the second threshold and larger than the third threshold, the control unit controls the reminding unit to send out a prompt 7;
when the real-time detection distance of one laser radar is smaller than a second threshold and larger than a third threshold and one laser radar is smaller than the third threshold and larger than a fourth threshold, the control unit controls the reminding unit to send a prompt 8;
and when the real-time detection distances of the two laser radars are both smaller than a third threshold and larger than a fourth threshold, the control unit controls the reminding unit to send out a prompt 9.
10. The pedestrian detection system based on the lidar according to claim 9, wherein the reminding unit is divided into an in-vehicle reminding device and an out-vehicle reminding device, the in-vehicle reminding device is disposed in the cockpit, and the out-vehicle reminding device is disposed outside the vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010333885.2A CN113552590A (en) | 2020-04-24 | 2020-04-24 | Car rear early warning system based on laser radar |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010333885.2A CN113552590A (en) | 2020-04-24 | 2020-04-24 | Car rear early warning system based on laser radar |
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