CN115267784A - Automobile self-opening door anti-collision system and method based on millimeter wave radar and laser radar - Google Patents
Automobile self-opening door anti-collision system and method based on millimeter wave radar and laser radar Download PDFInfo
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- CN115267784A CN115267784A CN202210805774.6A CN202210805774A CN115267784A CN 115267784 A CN115267784 A CN 115267784A CN 202210805774 A CN202210805774 A CN 202210805774A CN 115267784 A CN115267784 A CN 115267784A
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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
- G01S13/931—Radar or analogous 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
- 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
- G01S13/865—Combination of radar systems with lidar systems
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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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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- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses an automobile self-opening door anti-collision system based on a millimeter wave radar and a laser radar, which comprises a barrier detection device, an A/D (analog to digital) converter, a DSP (digital signal processor) and an angle controller which are sequentially connected, wherein the barrier detection device, the A/D converter, the DSP and the angle controller are all electrically connected with a vehicle-mounted control unit, the barrier detection device comprises a millimeter wave radar arranged on a decorative plate at the lower end of an automobile door and a laser radar arranged on a B column decorative plate and a front triangle decorative plate of the automobile door.
Description
Technical Field
The invention relates to the technical field of intelligent automobiles, in particular to an automobile self-opening door anti-collision system and method based on a millimeter wave radar and a laser radar.
Background
Along with the popularization of automobiles, more and more traffic safety accidents occur, wherein the accidents that people and vehicles collide with doors are caused by directly opening the doors due to carelessness and observation of pedestrians or vehicles near the doors, and the accidents account for a large proportion of the traffic accidents. Therefore, how to prevent the occurrence of door collision traffic accidents is a technical problem that needs to be solved by those skilled in the art.
In addition, with the increase of the automobile holding capacity, although the design of limited parking space intervals in cities can meet the convenience of opening doors of most automobiles for passengers to get on and off the automobiles, the difference of automobile types causes the width of the automobile body to be different, and if two parallel parking space spaces in cities are designed according to the size of the largest passenger automobile, resource waste is inevitably caused. In order to meet the parking demand as much as possible, the space of the parking space in the city is enough at present, and the space is not widely used. Moreover, if the phenomenon that individual drivers do not regulate parking is encountered, the fact that the drivers park at equal intervals as far as possible cannot be guaranteed, the space of individual parking spaces is small and small, and unnecessary automobile damage is caused by sudden large-angle opening of the doors due to the fact that passengers do not pay attention to the space when getting off the automobile. Therefore, the development of the anti-collision device for automatically controlling the opening angle of the automobile door is very necessary.
Disclosure of Invention
The invention mainly aims to solve the problem that the safety accidents of people and vehicles colliding with the door are easily caused by negligence in the opening process of the vehicle door, and provides an automobile self-opening anti-collision system based on a millimeter wave radar and a laser radar.
In order to achieve the purpose, the invention adopts the following technical scheme:
the automobile self-opening door anti-collision system based on the millimeter wave radar and the laser radar comprises an obstacle detection device, an A/D (analog to digital) converter, a DSP (digital signal processor) and an angle controller which are sequentially connected, wherein the obstacle detection device, the A/D converter, the DSP processor and the angle controller are electrically connected with a vehicle-mounted control unit; the barrier detection device comprises a millimeter wave radar arranged on a decorative plate at the lower end of the vehicle door and a laser radar arranged on a decorative plate at the B column of the vehicle window and a front triangular decorative plate, wherein the millimeter wave radar and the laser radar respectively comprise a chip, a transmitting antenna and at least two receiving antennas, the transmitting antenna is coupled with the chip, the millimeter wave radar and the laser radar respectively control the transmitting antenna to transmit electromagnetic wave signals and control the receiving antennas to receive the electromagnetic wave signals through the chip, and the electromagnetic wave signals are converted into electric signals to be transmitted to the A/D digital-to-analog converter.
The invention provides an automobile self-opening door anti-collision system based on a millimeter wave radar and a laser radar, which comprises a barrier detection device, an A/D (analog to digital) converter, an A/D (digital signal processor) processor and an angle controller which are sequentially connected, wherein the barrier detection device, the A/D converter, the DSP processor and the angle controller are electrically connected with a vehicle-mounted control unit; the car window B column decorative plate and the front triangular decorative plate are made of red transparent PC materials, holes do not need to be formed, the laser radar is installed behind the decorative plate and comprises a second chip, a second transmitting antenna and at least two second receiving antennas, the second transmitting antenna is coupled with the second chip, the second chip is used for controlling the second transmitting antenna to transmit electromagnetic wave signals and controlling the second receiving antenna to receive the electromagnetic wave signals, the electromagnetic wave signals are converted into electric signals to be transmitted to the A/D digital-to-analog converter, and therefore obstacle induction at the upper end of the car door is achieved; the A/D converter converts the electric signal into a digital signal; the DSP processes the digital signal to obtain angle information of obstacles around the vehicle door; the angle controller controls the opening angle of the vehicle door, or controls the vehicle door not to be opened, or controls the vehicle door to be temporarily stopped to be opened according to the angle information of the obstacles around the vehicle door. When a request for automatically opening the vehicle door exists, the system realizes the recognition and induction of obstacles around the vehicle door, and automatically controls the opening angle of the vehicle door according to the conditions of the obstacles around the vehicle door, or controls the vehicle door not to be opened temporarily; and in the process of opening the vehicle door, continuously identifying and sensing the obstacles around the vehicle door, and controlling whether the vehicle door is temporarily opened or not according to the conditions of the obstacles around the vehicle door. The system can prevent the traffic safety accidents that people and vehicles hit the door in the self-opening process of the automobile, and simultaneously avoid unnecessary damage to the automobiles of both sides caused by sudden large-angle opening of the door due to the fact that passengers do not pay attention to the size of the space when the automobile stops.
Preferably, the a/D digital-to-analog converter is configured to sample and perform spectrum analysis on the received electrical signal, convert the electrical signal into a corresponding digital signal, and transmit the digital signal to the DSP processor.
Preferably, the DSP processor is configured to perform calculation processing on the received digital signal, obtain angle information of an obstacle around the vehicle door, and transmit the angle information of the obstacle around the vehicle door to the angle controller.
Preferably, the angle controller is configured to automatically control an opening angle of the door based on the received angle information of the obstacle around the door. When a request for automatically opening the vehicle door exists, angle information of obstacles around the vehicle door is acquired, and the angle controller controls the opening angle of the vehicle door according to the angle information or controls the vehicle door not to be opened temporarily; and in the process of opening the vehicle door, continuously acquiring the angle information of the obstacles around the vehicle door, and controlling whether the vehicle door is temporarily opened or not by the angle controller.
Preferably, the angle controller is provided at a door hinge. The angle controller is arranged at the hinge of the vehicle door and used for controlling the opening angle of the vehicle door, or controlling the vehicle door not to be opened, or controlling the vehicle door to be temporarily stopped to be opened.
Preferably, the lower end trim panel of the vehicle door is made of plastic. Because door lower extreme decorative board is made for plastics, can do the trompil and handle, do benefit to the overall arrangement of millimeter wave radar, realize the response of door lower extreme object or people.
Preferably, the vehicle window B-pillar trim panel and the front triangle trim panel are made of a red-transparent PC material. Door window B post plaque and front triangle plaque adopt red to pass through the PC material, and laser radar can install behind the plaque, need not the trompil, realizes the response of door upper end object or people through penetrating the material.
The automobile self-opening door anti-collision method based on the millimeter wave radar and the laser radar is suitable for the automobile self-opening door anti-collision system based on the millimeter wave radar and the laser radar, and comprises the following steps:
step S1: a millimeter wave radar is installed on a decorative plate at the lower end of the vehicle door, and a laser radar is installed on a vehicle window B column decorative plate and a front triangular decorative plate;
step S2: when a request for automatically opening the vehicle door exists, detecting the angle information of obstacles around the vehicle door;
and step S3: and automatically controlling the opening angle of the vehicle door according to the angle information of the obstacles around the vehicle door.
The invention also provides an automobile self-opening door anti-collision method based on the millimeter wave radar and the laser radar, wherein a mounting hole is formed in a decorative plate at the lower end of an automobile door made of plastic, the millimeter wave radar is mounted in the mounting hole, and the laser radar is mounted behind a vehicle window B column decorative plate and a front triangular decorative plate made of a red transparent PC material; when a request for automatically opening the vehicle door exists, recognizing and sensing obstacles around the vehicle door, and acquiring angle information of the obstacles around the vehicle door; automatically controlling the opening angle of the vehicle door according to the angle information of the obstacles around the vehicle door, or controlling the vehicle door not to be opened temporarily; in the process of opening the vehicle door, the obstacles around the vehicle door are continuously identified and sensed, the angle information of the obstacles around the vehicle door is obtained, and whether the vehicle door is temporarily opened or not is controlled according to the angle information of the obstacles around the vehicle door. The method realizes the recognition and induction of the barriers around the vehicle door, avoids the vehicle door from colliding with the barriers in the opening process, improves the safety and reliability, simultaneously makes the automatic driving vehicle more intelligent, and improves the use experience of users.
Preferably, the specific process of step S2 includes the following steps:
step S21: when a request for automatically opening the vehicle door is available, the millimeter wave radar and the laser radar start to work, the transmitting antenna is controlled by the chip to transmit electromagnetic wave signals, the receiving antenna is controlled to receive the electromagnetic wave signals, and the electromagnetic wave signals are converted into electric signals and transmitted to the A/D digital-to-analog converter;
step S22: the A/D converter samples and analyzes the frequency spectrum of the electric signal, converts the electric signal into a digital signal and transmits the digital signal to the DSP processor;
step S23: the DSP processor calculates and processes the digital signals to obtain angle information of obstacles around the vehicle door and transmits the angle information to the angle controller;
step S24: the angle controller automatically controls the opening angle of the vehicle door according to the received angle information of the obstacles around the vehicle door.
When a request for automatically opening the vehicle door is available, the millimeter wave radar controls the first transmitting antenna to transmit electromagnetic wave signals and controls the first receiving antenna to receive the electromagnetic wave signals through the first chip, converts the electromagnetic wave signals into electric signals and transmits the electric signals to the A/D digital-to-analog converter, and therefore sensing of obstacles at the lower end of the vehicle door is achieved; the laser radar controls the second transmitting antenna to transmit electromagnetic wave signals and controls the second receiving antenna to receive the electromagnetic wave signals through the second chip, converts the electromagnetic wave signals into electric signals and transmits the electric signals to the A/D digital-to-analog converter, and therefore obstacle induction at the upper end of the vehicle door is achieved; the A/D digital-to-analog converter converts the electric signal into a digital signal; the DSP processes the digital signal to obtain angle information of obstacles around the vehicle door; the angle controller controls the opening angle of the vehicle door, or controls the vehicle door not to be opened, or controls the vehicle door to be temporarily stopped to be opened according to the angle information of the obstacles around the vehicle door.
Preferably, the specific process of step S24 includes the following steps:
step S241: obtaining a training sample, wherein the training sample comprises historical vehicle door peripheral obstacle angle information and a corresponding historical vehicle door opening angle;
step S242: constructing an initial neural network model;
step S243: training parameters of the initial neural network model by using training samples, and optimizing by using a loss function to obtain a target neural network model;
step S244: inputting the real-time vehicle door peripheral obstacle angle information received by the angle controller into a target neural network model, and outputting a corresponding real-time vehicle door opening angle by the target neural network model;
step S245: the angle controller automatically controls the opening degree of the vehicle door according to the real-time vehicle door opening angle output by the target neural network model.
The initial neural network model comprises a neural network filter, a neural network encoder and an activation function output layer, wherein the neural network filter comprises a parameterizable band-pass filter, and the parameterizable band-pass filter is obtained by training the training parameters of the convolution band-pass filter. The target neural network model is obtained by training the initial neural network model and is used for obtaining the real-time vehicle door opening angle corresponding to the real-time vehicle door peripheral obstacle angle information, so that the angle controller automatically controls the vehicle door to be opened according to the real-time vehicle door opening angle, and the method is safer, more reliable, more efficient, more accurate and more intelligent.
Therefore, the invention has the advantages that:
(1) When a request for automatically opening the vehicle door exists, the vehicle door identification sensing is realized through the vehicle door identification sensing device, and the opening angle of the vehicle door is automatically controlled or the vehicle door is temporarily controlled not to be opened according to the condition of the obstacles around the vehicle door; in the process of opening the automobile door, the obstacles around the automobile door are continuously identified and sensed, and whether the automobile door is temporarily opened or not is controlled according to the conditions of the obstacles around the automobile door, so that traffic safety accidents that personnel and the automobile collide with the door in the process of automatically opening the automobile are prevented, unnecessary automobile damage caused by sudden large-angle opening of the automobile door due to the fact that passengers do not pay attention to the size of a space after the automobile stops is avoided, and safety and reliability are improved;
(2) And the real-time car door opening angle is output through the target neural network model, so that the efficiency, the accuracy and the intelligence are high.
Drawings
Fig. 1 is a schematic structural diagram of an automobile self-opening door anti-collision system based on a millimeter wave radar and a laser radar in an embodiment of the present invention.
Fig. 2 is a schematic layout diagram of a millimeter wave radar and a laser radar in the first embodiment of the present invention.
Fig. 3 is a schematic diagram of an electromagnetic wave transmitted by a transmitting antenna and an electromagnetic wave received by a receiving antenna according to an embodiment of the invention.
Fig. 4 is a flowchart of an automobile self-opening door anti-collision method based on a millimeter wave radar and a laser radar in the second embodiment of the present invention.
1. The automobile door control system comprises an obstacle detection device 2, an A/D (analog/digital) converter 3, a DSP (digital signal processor) 4, an angle controller 5, an on-vehicle control unit 6, a millimeter wave radar 7, a laser radar 8, a door lower end decorative plate 9, a vehicle window B column decorative plate 10, a front triangular decorative plate 11, a transmitting antenna 12 and a receiving antenna.
Detailed Description
The present embodiment is further described with reference to the following drawings and detailed description.
The first embodiment is as follows:
an automobile self-opening door anti-collision system based on a millimeter wave radar and a laser radar is shown in figure 1 and comprises an obstacle detection device 1, an A/D digital-to-analog converter 2, a DSP processor 3 and an angle controller 4 which are connected in sequence, wherein the obstacle detection device 1, the A/D digital-to-analog converter 2, the DSP processor 3 and the angle controller 4 are all electrically connected with a vehicle-mounted control unit 5; the obstacle detection device 1 includes millimeter wave radar 6 installed at door lower extreme decorative board 8 and installs the lidar 7 at door window B post plaque 9 and front triangle plaque 10, as shown in fig. 3, millimeter wave radar 6 and lidar 7 all include the chip and with the emitting antenna 11 and two at least receiving antenna 12 of chip coupling, millimeter wave radar 6 and lidar 7 all receive electromagnetic wave signal through chip control emitting antenna 11 transmission electromagnetic wave signal and control receiving antenna 12, and convert electromagnetic wave signal into electrical signal transmission to AD digital-to-analog converter 2.
The embodiment provides an automobile self-opening door anti-collision system based on a millimeter wave radar and a laser radar, which comprises an obstacle detection device 1, an A/D (analog to digital) converter 2, an A/D (digital signal processor) processor 3 and an angle controller 4 which are connected in sequence, wherein the obstacle detection device 1, the A/D converter 2, the DSP processor 3 and the angle controller 4 are electrically connected with a vehicle-mounted control unit 5, the obstacle detection device 1 comprises a millimeter wave radar 6 and a laser radar 7, as shown in figure 2, a door lower end decoration plate 8 is made of plastic and is provided with a mounting hole, the millimeter wave radar 6 is arranged in the mounting hole, the millimeter wave radar 6 comprises a first chip, a first transmitting antenna and at least two first receiving antennas, the first transmitting antenna is controlled to transmit electromagnetic wave signals, the first receiving antenna is controlled to receive the electromagnetic wave signals, the electromagnetic wave signals are converted into electric signals to be transmitted to the A/D converter 2, and the lower end obstacle induction of the door is realized; the car window B column decorative plate 9 and the front triangular decorative plate 10 are made of red transparent PC materials, holes do not need to be formed, the laser radar 7 is installed behind the decorative plates, the laser radar 7 comprises a second chip, and a second transmitting antenna and at least two second receiving antennas which are coupled with the second chip, the second transmitting antenna is controlled to transmit electromagnetic wave signals and the second receiving antennas are controlled to receive the electromagnetic wave signals through the second chip, the electromagnetic wave signals are converted into electric signals to be transmitted to the A/D digital-to-analog converter 2, and therefore obstacle induction at the upper end of the car door is achieved; the A/D converter 2 samples and analyzes the frequency spectrum of the received electric signal, converts the electric signal into a corresponding digital signal and transmits the digital signal to the DSP processor 3; the DSP processor 3 calculates and processes the received digital signals to obtain angle information of obstacles around the vehicle door and transmits the angle information of the obstacles around the vehicle door to the angle controller 4; the angle controller 4 is arranged at the hinge of the vehicle door, and controls the opening angle of the vehicle door, or controls the vehicle door not to be opened, or controls the vehicle door to be temporarily stopped to be opened according to the angle information of obstacles around the vehicle door. When a request for automatically opening the vehicle door exists, the system realizes the recognition and induction of obstacles around the vehicle door, and automatically controls the opening angle of the vehicle door according to the conditions of the obstacles around the vehicle door, or controls the vehicle door not to be opened temporarily; and in the process of opening the vehicle door, continuously identifying and sensing the obstacles around the vehicle door, and controlling whether the vehicle door is temporarily opened or not according to the conditions of the obstacles around the vehicle door.
Example two:
the automobile self-opening door anti-collision method based on the millimeter wave radar and the laser radar is suitable for the automobile self-opening door anti-collision system based on the millimeter wave radar and the laser radar, and as shown in figure 4, the method comprises the following steps:
step S1: a millimeter wave radar is installed on a decorative plate at the lower end of the vehicle door, and a laser radar is installed on a vehicle window B column decorative plate and a front triangular decorative plate;
step S2: when a request for automatically opening the vehicle door exists, detecting the angle information of obstacles around the vehicle door;
and step S3: and automatically controlling the opening angle of the vehicle door according to the angle information of the obstacles around the vehicle door.
The embodiment also provides an automobile self-opening door anti-collision method based on the millimeter wave radar and the laser radar, wherein a mounting hole is formed in a decorative plate at the lower end of an automobile door made of plastic, the millimeter wave radar is mounted in the mounting hole, and the laser radar is mounted behind a vehicle window B column decorative plate and a front triangular decorative plate made of a red transparent PC material; when a request for automatically opening the vehicle door exists, recognizing and sensing obstacles around the vehicle door, and acquiring angle information of the obstacles around the vehicle door; automatically controlling the opening angle of the vehicle door according to the angle information of the obstacles around the vehicle door, or controlling the vehicle door not to be opened temporarily; in the process of opening the vehicle door, the obstacles around the vehicle door are continuously identified and sensed, the angle information of the obstacles around the vehicle door is obtained, and whether the vehicle door is temporarily opened or not is controlled according to the angle information of the obstacles around the vehicle door.
The specific process of the step S2 comprises the following steps:
step S21: when a request for automatically opening the vehicle door is available, the millimeter wave radar and the laser radar start to work, the transmitting antenna is controlled by the chip to transmit electromagnetic wave signals, the receiving antenna is controlled to receive the electromagnetic wave signals, and the electromagnetic wave signals are converted into electric signals and transmitted to the A/D digital-to-analog converter;
step S22: the A/D digital-to-analog converter samples and analyzes frequency spectrum of the electric signal, converts the electric signal into a digital signal and transmits the digital signal to the DSP;
step S23: the DSP processor calculates and processes the digital signals to obtain angle information of obstacles around the vehicle door and transmits the angle information to the angle controller;
step S24: the angle controller automatically controls the opening angle of the vehicle door according to the received angle information of the obstacles around the vehicle door.
The specific process of step S24 includes the following steps:
step S241: obtaining a training sample, wherein the training sample comprises the angle information of obstacles around a historical vehicle door and a corresponding historical vehicle door opening angle;
step S242: constructing an initial neural network model;
step S243: training parameters of the initial neural network model by using training samples, and optimizing by using a loss function to obtain a target neural network model;
step S244: inputting the real-time vehicle door peripheral obstacle angle information received by the angle controller into a target neural network model, and outputting a corresponding real-time vehicle door opening angle by the target neural network model;
step S245: the angle controller automatically controls the opening degree of the vehicle door according to the real-time vehicle door opening angle output by the target neural network model.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. The automobile self-opening door anti-collision system based on the millimeter wave radar and the laser radar is characterized by comprising an obstacle detection device, an A/D (analog to digital) converter, a DSP (digital signal processor) and an angle controller which are connected in sequence, wherein the obstacle detection device, the A/D converter, the DSP and the angle controller are all electrically connected with a vehicle-mounted control unit; the barrier detection device comprises a millimeter wave radar arranged on a decorative plate at the lower end of the car door and a laser radar arranged on a car window B column decorative plate and a front triangle decorative plate, wherein the millimeter wave radar and the laser radar respectively comprise a chip, a transmitting antenna and at least two receiving antennas, the transmitting antenna is coupled with the chip, the millimeter wave radar and the laser radar respectively control the transmitting antenna to transmit electromagnetic wave signals and control the receiving antennas to receive the electromagnetic wave signals through the chip, and the electromagnetic wave signals are converted into electric signals to be transmitted to the A/D converter.
2. The automobile self-opening door anti-collision system based on the millimeter wave radar and the laser radar as claimed in claim 1, wherein the a/D digital-to-analog converter is used for sampling and spectrum analysis of the received electric signals, converting the electric signals into corresponding digital signals, and transmitting the digital signals to the DSP processor.
3. The automobile self-opening door anti-collision system based on the millimeter wave radar and the laser radar as claimed in claim 2, wherein the DSP processor is configured to perform calculation processing on the received digital signal, obtain angle information of an obstacle around a door, and transmit the angle information of the obstacle around the door to the angle controller.
4. The automobile self-opening door anti-collision system based on the millimeter wave radar and the laser radar as claimed in claim 3, wherein the angle controller is configured to automatically control the opening angle of the vehicle door according to the received angle information of the obstacle around the vehicle door.
5. The automatic door opening anti-collision system based on the millimeter wave radar and the laser radar as claimed in claim 1, 2, 3 or 4, characterized in that the angle controller is arranged at a door hinge.
6. The automobile self-opening door anti-collision system based on the millimeter wave radar and the laser radar as claimed in claim 1, wherein the lower decorative plate of the automobile door is made of plastic.
7. The automobile self-opening door anti-collision system based on the millimeter wave radar and the laser radar as claimed in claim 1, wherein the B column decorative plate and the front triangle decorative plate of the automobile window are made of a red-transparent PC material.
8. The automobile self-opening door anti-collision method based on the millimeter wave radar and the laser radar is suitable for the automobile self-opening door anti-collision system based on the millimeter wave radar and the laser radar according to any one of claims 1 to 7, and is characterized by comprising the following steps of:
step S1: a millimeter wave radar is installed on a decorative plate at the lower end of the vehicle door, and a laser radar is installed on a vehicle window B column decorative plate and a front triangular decorative plate;
step S2: when a request for automatically opening the vehicle door exists, detecting the angle information of obstacles around the vehicle door;
and step S3: and automatically controlling the opening angle of the vehicle door according to the angle information of the obstacles around the vehicle door.
9. The automobile self-opening door anti-collision method based on the millimeter wave radar and the laser radar as claimed in claim 8, wherein the specific process of the step S2 comprises the following steps:
step S21: when a request for automatically opening the vehicle door is available, the millimeter wave radar and the laser radar start to work, the transmitting antenna is controlled by the chip to transmit electromagnetic wave signals, the receiving antenna is controlled to receive the electromagnetic wave signals, and the electromagnetic wave signals are converted into electric signals and transmitted to the A/D digital-to-analog converter;
step S22: the A/D converter samples and analyzes the frequency spectrum of the electric signal, converts the electric signal into a digital signal and transmits the digital signal to the DSP processor;
step S23: the DSP processor calculates and processes the digital signals to obtain angle information of obstacles around the vehicle door and transmits the angle information to the angle controller;
step S24: the angle controller automatically controls the opening angle of the vehicle door according to the received angle information of the obstacles around the vehicle door.
10. The automobile self-opening door anti-collision method based on the millimeter wave radar and the laser radar as claimed in claim 9, wherein the specific process of the step S24 comprises the following steps:
step S241: obtaining a training sample, wherein the training sample comprises historical vehicle door peripheral obstacle angle information and a corresponding historical vehicle door opening angle;
step S242: constructing an initial neural network model;
step S243: training parameters of the initial neural network model by using training samples, and optimizing by using a loss function to obtain a target neural network model;
step S244: inputting the real-time vehicle door peripheral obstacle angle information received by the angle controller into a target neural network model, and outputting a corresponding real-time vehicle door opening angle by the target neural network model;
step S245: and the angle controller automatically controls the opening degree of the vehicle door according to the real-time vehicle door opening angle output by the target neural network model.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210805774.6A CN115267784A (en) | 2022-07-08 | 2022-07-08 | Automobile self-opening door anti-collision system and method based on millimeter wave radar and laser radar |
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| CN202210805774.6A CN115267784A (en) | 2022-07-08 | 2022-07-08 | Automobile self-opening door anti-collision system and method based on millimeter wave radar and laser radar |
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| CN115267784A true CN115267784A (en) | 2022-11-01 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116520339A (en) * | 2023-06-25 | 2023-08-01 | 四川护邑科技有限公司 | Laser ranging anti-collision protection device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116520339A (en) * | 2023-06-25 | 2023-08-01 | 四川护邑科技有限公司 | Laser ranging anti-collision protection device |
| CN116520339B (en) * | 2023-06-25 | 2023-10-24 | 四川护邑科技有限公司 | Laser ranging anti-collision protection device |
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