CN1570669A - Distance sensing method and device for reversal radar - Google Patents
Distance sensing method and device for reversal radar Download PDFInfo
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- CN1570669A CN1570669A CN 03178765 CN03178765A CN1570669A CN 1570669 A CN1570669 A CN 1570669A CN 03178765 CN03178765 CN 03178765 CN 03178765 A CN03178765 A CN 03178765A CN 1570669 A CN1570669 A CN 1570669A
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Abstract
This invention relates to a method and apparatus for measuring distance of reversing radar, which is to pre-store a group of critical values in memory for measuring distance; to multiply sample reflection signals measured by several sensing receiver, then to compare critical values with sample values to judge whether there are obstacles behind vehicle and the distance; the detail circuit of above said implementation method chooses unit by central processor through a path and to switch orderly several sensing receivers to control the sending of detecting signals and receiving of reflection signals. When receiving signals, it converts reflection signals into digital signals through A/D translating circuit and send them into central processor to read distance to measure the distance between the vehicle and obstacles.
Description
Technical field
The present invention relates to a kind of radar for backing car apart from method for detecting and device thereof, refer to especially a kind ofly can carry out the method for detecting that dynamic parameter is adjusted according to context, with accurate judgement have clear to exist and and car body between distance.
Background technology
Installing radar for backing car detector is when general caravan, and the topmost main points of considering are promptly whether the action accuracy of radar for backing car is enough high, to reach the reversing warning function really.Whether the generation of false action of radar for backing car to be, except that being subjected to environmental aspect influence outside, whether have accurately judgment, to tell the signal that noise and practical obstacle thing are reflected if also involving its circuit design.
Generally speaking, if road surface belongs to comparatively coarse road surface, when for example road surface is covered with blinding, its direct of travel of ultrasonic signal of launching because of radar for backing car radially, so reflected signal from rough road, very easily cause this radar for backing car erroneous judgement barrier to occur for the car body rear, and send caution sound prompting driver, the caution action of this kind mistake is as good as the puzzlement that causes the user.Moreover, in some specific car type,, when its vehicle body rear can be provided with thing such as spare tyre or hook, also can cause the ultrasonic signal to produce reflection as jeep or truck etc., might cause radar for backing car misoperation generation so be still.
Summary of the invention
For solving the misoperation of above-mentioned existing radar for backing car, fundamental purpose of the present invention provide a kind of radar for backing car apart from detection techniques, it can obtain the actual state of present surrounding environment by dynamically updating parameter, to improve the detecting accuracy rate of radar for backing car.
For reaching above-mentioned purpose, of the present inventionly mainly include following steps apart from method for detecting:
Be preset with n critical value according to distance length;
In regular turn that several sensing transceivers are received reflected signal all carries out n sampling, and stores n data from the sample survey of each reflected signal;
Relatively this each data from the sample survey and each data from the sample survey last time, if both are when close or equal, then this each data from the sample survey and default each critical value are compared once more with obtain one and barrier between range data; Otherwise directly obtain if this data from the sample survey when last time data from the sample survey differed greatly, then needn't compare critical value one and barrier between range data.
In order to implement the concrete device of afore-mentioned distance method for detecting, include again:
One central processing unit, its storer and one that is connected with a preset critical can send the circuit for alarming of warning function;
One channel selecting unit is by aforementioned central processing unit control;
One boosting unit, its input end is connected to the aforementioned channels selected cell, and its output is connected to a sensing Transmit-Receive Unit, wherein this sensing Transmit-Receive Unit is made of a plurality of ultrasonic sensing transceivers;
One A/D change-over circuit, its input is connected in the output of channel selecting unit, can be with the ultrasonic conversion of signals of reflection to export central processing unit to behind the digital format to carry out computing.
Wherein,, control each transceiver in regular turn and send detectable signal or receive reflected signal by the channel selecting unit by central processing unit, and after with the A/D change-over circuit reflected signal being converted to digital signal, input to this central processing unit and carry out, to learn the distance of car body and barrier apart from interpretation.
Another purpose of the present invention provide a kind of radar for backing car apart from detection techniques, after comparison reflected signal and aforementioned critical value, can get rid of the reflected signal that non-barrier produces, and then improve the accuracy rate of detecting.
A further object of the present invention provide a kind of radar for backing car apart from detection techniques, it can be when radar for backing car starts, drive each sensing transceiver earlier and send test signal, and measure its reflected signal and when finish, feeble signal after reflected signal finishes is the repercussions signal, set the shielding time according to the duration of repercussions signal, can the repercussions signal being filtered when the follow-up formal mensuration, and improve the detecting accurate rate.
Description of drawings
Fig. 1 is of the present invention apart from the arrangement for detecting calcspar;
Fig. 2 is the detailed circuit diagram of central processing unit of the present invention, storer, A/D change-over circuit and circuit for alarming;
Fig. 3 is the detailed circuit diagram of the present invention's emission/receiving circuit, booster circuit, channel selecting unit, signal amplification circuit;
Fig. 4 is a memory inside data storing synoptic diagram of the present invention;
Fig. 5 is the process flow diagram of the present invention apart from method for detecting.
Symbol description among the figure
10 central processing units, 11 bolt lock device latch
20 storeies, 30 channel selecting unit
40 booster circuits, 50 A/D change-over circuits
51 bleeder circuits, 52 comparers
60 signal amplification circuits, 61 repercussions screened circuits
70 sensing Transmit-Receive Units
71～74 sensing transceivers
80 circuit for alarming
Embodiment
Describe the specific embodiment of the present invention in detail below in conjunction with drawings and Examples.
See also shown in Figure 1ly, of the present inventionly include apart from its formant of arrangement for detecting:
One central processing unit 10, it is connected with the storer 20 of a storage data;
One channel selecting unit 30, its input end connect aforementioned central processing unit 10, and its output terminal is connected with many group booster circuits 40 respectively;
One sensing Transmit-Receive Unit 70 is made up of a plurality of ultrasonic sensing transmitting-receiving subassemblies, and each sensing transmitting-receiving subassembly correspondence respectively is connected to aforementioned many group booster circuits 40, the emission ultrasonography signal by booster circuit 40 controls;
One signal amplification circuit 60, be connected between the input and channel selecting unit 30 output terminals of aforementioned A/D change-over circuit 50, form with a plurality of operational amplifiers, wherein be serially connected with a repercussions screened circuit 61 between the output terminal of first operational amplifier and earth terminal as shown in Figure 3, this repercussions screened circuit 61 mainly is made up of a transistor;
One circuit for alarming 80 can send the caution sound by these central processing unit 10 controls, adopts a hummer to form in present embodiment.
See also shown in Figure 2, this central processing unit 10 is the chip formation of AT 89 C 51 for atmel corp's production model, its pin P00～P07 also is connected to the low order address pin A7～A0 of storer 20 simultaneously by a bolt lock device 11 except that the data pin D0～D7 that is connected to aforementioned memory 20; Wherein the high address pin A8～A10 of this storer 20 then directly is connected with the pin P20～P22 of central processing unit 10.The P23 of this central processing unit 10～P27 pin then is connected to aforementioned A/D change-over circuit 50 in addition.
When this central processing unit 10 is desired the data of read-write memory 20 inside, earlier send address signal by its P00～P07, P20～P22, and be aided with this bolt lock device 11 to set the particular address of storer 20 inside, after the read/write address setting finished, central processing unit 10 can utilize the data pin D0～D7 of storer 20 to carry out data read/write operation.
Aforementioned A/D change-over circuit 50 consists predominantly of five rank bleeder circuits 51 and a comparer 52 of being made up of resistance R 1, R6～R15.The positive input of this comparer 52 is received from the signal (P3.5 contact among the figure certainly) that signal amplification circuit 60 is sent into, and promptly passes through the ultrasonic reflected signal after the processing and amplifying, and its reference voltage end then connects the output terminal of this five rank bleeder circuit 51.
The ultrasonic reflected signal that is received from aforementioned sensing Transmit-Receive Unit 70, earlier by this channel selecting unit 30 after by signal amplification circuit 60 through processing and amplifying, thereafter input to the positive input of comparer 52, and after comparing with magnitude of voltage that this five rank bleeder circuit 51 exports comparer 52 negative inputs to, just can learn the digital value of this reflected signal, its detailed manner of comparison is please consulted following table earlier:
| ??P27 | ???P26 | ??P25 | ??P24 | ??P23 | Reference voltage end | ??P27 | ??P26 | ??P25 | ??P24 | ??P23 | Reference voltage end |
| ??0 | ???0 | ??0 | ??0 | ??0 | ????0V | ??0 | ??0 | ??0 | ??0 | ??1 | ????16*Vcc/32 |
| ??1 | ???0 | ??0 | ??0 | ??0 | ????Vcc/32 | ??1 | ??0 | ??0 | ??0 | ??1 | ????17*Vcc/32 |
| ??0 | ???1 | ??0 | ??0 | ??0 | ????2*Vcc/32 | ??0 | ??1 | ??0 | ??0 | ??1 | ????18*Vcc/32 |
| ??1 | ???1 | ??0 | ??0 | ??0 | ????3*Vcc/32 | ??1 | ??1 | ??0 | ??0 | ??1 | ????19*Vcc/32 |
| ??0 | ???0 | ??1 | ??0 | ??0 | ????4*Vcc/32 | ??0 | ??0 | ??1 | ??0 | ??1 | ????20*Vcc/32 |
| ??1 | ???0 | ??1 | ??0 | ??0 | ????5*Vcc/32 | ??1 | ??0 | ??1 | ??0 | ??1 | ????21*Vcc/32 |
| ??0 | ???1 | ??1 | ??0 | ??0 | ????6*Vcc/32 | ??0 | ??1 | ??1 | ??0 | ??1 | ????22*Vcc/32 |
| ??1 | ???1 | ??1 | ??0 | ??0 | ????7*Vcc/32 | ??1 | ??1 | ??1 | ??0 | ??1 | ????23*Vcc/32 |
| ??0 | ???0 | ??0 | ??1 | ??0 | ????8*Vcc/32 | ??0 | ??0 | ??0 | ??1 | ??1 | ????24*Vcc/32 |
| ??1 | ???0 | ??0 | ??1 | ??0 | ????9*Vcc/32 | ??1 | ??0 | ??0 | ??1 | ??1 | ????25*Vcc/32 |
| ??0 | ???1 | ??0 | ??1 | ??0 | ????10*Vcc/32 | ??0 | ??1 | ??0 | ??1 | ??1 | ????26*Vcc/32 |
| ??1 | ???1 | ??0 | ??1 | ??0 | ????11*Vcc/32 | ??1 | ??1 | ??0 | ??1 | ??1 | ????27*Vcc/32 |
| ??0 | ???0 | ??1 | ??1 | ??0 | ????12*Vcc/32 | ??0 | ??0 | ??1 | ??1 | ??1 | ????28*Vcc/32 |
| ??1 | ???0 | ??1 | ??1 | ??0 | ????13*Vcc/32 | ??1 | ??0 | ??1 | ??1 | ??1 | ????29*Vcc/32 |
| ??0 | ???1 | ??1 | ??1 | ??0 | ????14*Vcc/32 | ??0 | ??1 | ??1 | ??1 | ??1 | ????30*Vcc/32 |
| ??1 | ???1 | ??1 | ??1 | ??0 | ????15*Vcc/32 | ??1 | ??1 | ??1 | ??1 | ??1 | ????31*Vcc/32 |
When the output connecting pin P27～P23 of this central processing unit 10 exports different digital values (00000～11111), through behind each electric resistance partial pressure of this five rank bleeder circuit 51, be the reverse input end of exportable different as shown in Table magnitude of voltage to comparer 52, so send different voltages in regular turn to comparer 52 comparisons when this central processing unit 10 utilizes dichotomy, can obtain the reflected signal digital value of comparer 52 its positive inputs, promptly finish the A/D conversion of reflected signal thus.
See also shown in Figure 3, the selection signal pin of aforementioned central processing unit 10, promptly SEL0, SEL1 two pins are connected to the first switch I C31 and the second switch IC32 in the channel selecting unit 30; Two switch I C31,32 are by stating each the sensing transceiver 71～74 in the booster circuit 40 control sensing Transmit-Receive Units 70.
And the received ultrasonic reflected signal of each sensing transceiver 71～74, also by being fed through this signal amplification circuit 60 behind the two switch I C31,32, after the operational amplifier that process signal amplification circuit 60 inside are three grades is amplified, then return to aforementioned A/D change-over circuit (in shown in Figure 2) by pin P3.5, the repercussions screened circuit 61 in signal amplification circuit 60 wherein, whether its transistor turns is by these central processing unit 10 decisions, when transistor ends, the gain of first order operational amplifier promptly reduces, so can restrain the magnification of repercussions.
Wherein, the signal controlling two switch I C31s, 32 of this central processing unit 10 by selecting pin to send, select one of them emission ultrasonography signal of four sensing transceivers 71～74, or one of them institute of reception detects the reflected signal that obtains and is fed through signal amplification circuit 60 processing.
Of the present invention apart from method for detecting, when each sensing transceiver 71～74 when starting, carry out the initialization operation earlier, controls each sensor in regular turn by central processing unit 10 thereafter and send detection signal, and the signal after will reflecting is in regular turn sampled.
For the signal that reflects at present, this central processing unit 10 carries out single sample with every 118us (microsecond) (being that signal transmits 2 centimetres of required times), and be converted to digital format and be stored in the storer 20, because of the effective detecting distance of sensing transceiver 71～74 is 5 meters,, changes by this central processing unit 10 so must carrying out 250 sampling for each signal that reflects.
As shown in Figure 4, after the detecting release of the first round of each sensing transceiver 71～74, stored the detecting data of each 71～74 first round of sensing transceiver in storer 20, wherein the detecting data of first transceiver, 71 to the 4th transceivers 74 is respectively with mX
n, mY
n, mZ
n, mW
nExpression, subfix n promptly represents the n time sampling, and symbol m is represented as the detecting action of m wheel.Be preset with one group of comparison critical value VV again in these storer 20 inside
n, because reflected signal can change its signal intensity along with the distance difference of reflection, so the critical value V of comparison usefulness
1～V
250Also set different pieces of information, wherein V according to distance
1＞V
250
See also shown in Figure 5, be the action flow chart of the present invention apart from method for detecting, when each sensing transceiver 71～74 starts, carry out initializing set earlier, initial setting comprises: storer 20 inner each transceiver 71～74 previous storage data are removed fully, and drive earlier each sensing transceiver 71～74 emission ultrasonic test signals and measure its reflected signal and when finish, feeble signal after reflected signal finishes promptly is considered as the repercussions signal, set the shielding time determining the transistorized conduction and cut-off times in the aforementioned repercussions screened circuit 61 according to the duration of repercussions signal, can the repercussions signal be filtered when the follow-up formal mensuration.
After initializing set finishes, promptly carry out formal sensing, when the conversion of sampling as the aforementioned of the reflected signal of first round of each sensing transceiver 71,74, and after being stored into storer 20 in regular turn, with critical value V
nCompare one by one.At first compare first transceiver, 71 its reflected signals through the numerical value of sampling conversion whether greater than critical value, promptly judge 1X
n＞V
nWhen utilizing its transmission of ultrasonic, energy mainly concentrates on the direction of transceiver 71,74 indications, so the barrier on this direction will produce stronger reflection, the signal that other direction reflects then a little less than, therefore whether have clear to exist as long as the signal intensity that detection of reflected is returned is a decidable.If the signal X that reflects
nGreater than critical value V
n, judge that promptly have barrier exists, because of data from the sample survey according to adopting storing mode in regular turn, so the sequence number n that samples need only be multiply by that 2cm can obtain and barrier between distance; If all less than critical value, then look these sensing transceiver 71～74 nothings and detect any barrier existence after 250 data from the sample survey are compared one by one.So repeat with after four sensing transceivers, 71～74 all data from the sample survey and the critical value comparison four range data that 71～74 correspondences of four sensing transceivers record to be compared, minimum value wherein promptly is considered as the actual range with barrier.And central processing unit 10 is promptly promptly controlled the caution sound that aforementioned circuit for alarming 80 sends different frequency apart from length according to size of data after obtaining these actual range data.
Still see also shown in Figure 4ly, carry out second in aforementioned four sensing transceivers 71～74 and take turns when action detecting (m=2), central processing unit 10 is once more to the reflected signal conversion of sampling, and (is 2X and be stored in this storer 20 interior
n, 2Y
n, 2Z
n, 2W
n), last time data from the sample survey is still kept simultaneously, with the parameter as the record ambient condition.
Please refer to shown in Figure 5, in carry out second take turns distance calculation the time (when storer 20 inside have stored last time data from the sample survey), this data from the sample survey is compared with data from the sample survey last time earlier and (is promptly judged mX
n=(m-1) X
n), if both data equate or when close, promptly represent present context to there is no the too big variation of generation, so both data are similar, promptly again with critical value V
nCompare; If after last time data from the sample survey and this data from the sample survey were compared, find that both are different bigger, promptly represent present environment that the barrier existence is arranged, then the sequence number n of this sample value be multiply by 2cm and just can obtain distance with barrier.So repeat four groups of data from the sample survey comparisons, and after getting four range data, get wherein minimum value equally and be considered as actual range with barrier, central processing unit 10 is still according to this actual distance value and determines different caution frequencies, sends the caution sound with control circuit for alarming 80.
Thereafter the distance detecting of each wheel is calculated, and promptly utilizes this data from the sample survey and last time data from the sample survey in advance after the comparison, again with critical value relatively, the present invention promptly has the effect of dynamic corrected parameter thus, and the accurate rate of distance detecting is greatly improved.
In sum, be specifying of preferred embodiment of the present invention, but not in order to restriction protection scope of the present invention, moreover the present invention really possessed aforementioned advantages, and also possessed obvious effect and promote compared to existing.
Claims (10)
- A radar for backing car apart from method for detecting, it is characterized in that, include:Judge critical value for default n, wherein the corresponding specific range value of each critical value;With the reflected signal that the sensing transceiver receives, carry out n sampling and storage respectively, with n the data from the sample survey that obtains this reflected signal;Store n data from the sample survey of this reflected signal;Relatively this each data from the sample survey and each data from the sample survey last time, if both are when close or equal, then this each data from the sample survey and default each critical value are compared once more with obtain one and barrier between range data; Otherwise directly obtain if this data from the sample survey when last time data from the sample survey differed greatly, then needn't compare critical value one and barrier between range data.
- 2. radar for backing car as claimed in claim 1 apart from method for detecting, it is characterized in that, when n data from the sample survey one of them during greater than its corresponding critical value, i.e. representative has barrier to exist, represent a specific range value because of critical value again, so can obtain the range data between sensing transceiver and the barrier.
- 3. radar for backing car as claimed in claim 1 apart from method for detecting, it is characterized in that, when this data from the sample survey when last time data from the sample survey differed greatly, i.e. representative has barrier to exist, and correspond to the same sequence number of critical value by the sequence number of this data from the sample survey, with learn and barrier between range data.
- As claim 2 or 3 described radar for backing car apart from method for detecting, it is characterized in that this at least one sensing transceiver is made up of several sensing transceivers.
- Radar for backing car as claimed in claim 4 apart from method for detecting, it is characterized in that, each measured range data of aforementioned several sensing transceivers, getting wherein, minimum value is considered as an actual distance value.
- Radar for backing car as claimed in claim 5 apart from method for detecting, it is characterized in that, according to the numerical values recited of this actual distance value, and the decision different frequency the caution sound.
- A radar for backing car apart from arrangement for detecting, it is characterized in that, include:One central processing unit, it is connected with the circuit for alarming that a storer and that prestores critical value can send warning function;One channel selecting unit is connected to aforementioned central processing unit;Many group booster circuits are connected between an aforementioned channels selected cell and the sensing Transmit-Receive Unit, and wherein this sensing Transmit-Receive Unit is made of a plurality of sensing transceivers, drives aforementioned each sensing transceiver by each booster circuit;One A/D change-over circuit is connected between channel selecting unit and the aforementioned central processing unit, exports this central processing unit to after reflected signal can being converted to digital format;When the distance detecting, this central processing unit is by control aforementioned channels selected cell, aforementioned each the sensing transceiver emission detection signal of sequential start has clear to exist with detecting, after the detection signal battery has fired, this central processing unit is controlled the aforementioned channels selected cell once more, receive the reflected signal that each sensing transceiver is received in regular turn, and after this A/D change-over circuit is converted to digital format with reflected signal, send into this central processing unit with calculate and barrier between distance.
- 8. radar for backing car as claimed in claim 7 apart from arrangement for detecting, it is characterized in that, after this A/D change-over circuit passes through a signal amplification circuit and the aforementioned channels selected cell is connected, be connected to this sensing Transmit-Receive Unit again, the reflected signal that signal amplification circuit receives the self-sensing Transmit-Receive Unit send and gives the A/D change-over circuit after processing and amplifying.
- Radar for backing car as claimed in claim 7 apart from arrangement for detecting, it is characterized in that the output and input pins of this central processing unit is connected to the address pin of this storer by a bolt lock device.
- Radar for backing car as claimed in claim 7 apart from arrangement for detecting, it is characterized in that this A/D change-over circuit includes:One bleeder circuit, its input end is connected to this central processing unit;One comparer, one input end connect the output terminal of this signal amplification circuit, and its another input end is connected to the output terminal of aforementioned bleeder circuit, and the output terminal of this comparer is connected to this central processing unit again;This signal amplification circuit connects to form with multi-stage operational amplifier, and is connected in series a repercussions screened circuit between the output terminal of first order operational amplifier and the earth terminal.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03178765 CN1570669A (en) | 2003-07-18 | 2003-07-18 | Distance sensing method and device for reversal radar |
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|---|---|---|---|
| CN 03178765 CN1570669A (en) | 2003-07-18 | 2003-07-18 | Distance sensing method and device for reversal radar |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1940592B (en) * | 2005-09-29 | 2010-05-26 | 李世雄 | Reversing radar control method for preventing gas interference |
| CN101218516B (en) * | 2005-09-02 | 2011-04-06 | 丰田自动车株式会社 | Object detection apparatus and method |
| CN101395649B (en) * | 2006-03-01 | 2011-08-17 | 丰田自动车株式会社 | Obstacle detection method, obstacle detection device |
| CN103477332A (en) * | 2011-04-21 | 2013-12-25 | 罗伯特·博世有限公司 | Control device having a digital interface |
| CN104842886A (en) * | 2015-05-20 | 2015-08-19 | 王方圆 | Probe type automobile reversing radar |
| CN107884774A (en) * | 2017-12-01 | 2018-04-06 | 太原理工大学 | A kind of supersonic range finder of the anti-interference transless driving of multi-frequency |
-
2003
- 2003-07-18 CN CN 03178765 patent/CN1570669A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101218516B (en) * | 2005-09-02 | 2011-04-06 | 丰田自动车株式会社 | Object detection apparatus and method |
| CN1940592B (en) * | 2005-09-29 | 2010-05-26 | 李世雄 | Reversing radar control method for preventing gas interference |
| CN101395649B (en) * | 2006-03-01 | 2011-08-17 | 丰田自动车株式会社 | Obstacle detection method, obstacle detection device |
| CN103477332A (en) * | 2011-04-21 | 2013-12-25 | 罗伯特·博世有限公司 | Control device having a digital interface |
| CN104842886A (en) * | 2015-05-20 | 2015-08-19 | 王方圆 | Probe type automobile reversing radar |
| CN107884774A (en) * | 2017-12-01 | 2018-04-06 | 太原理工大学 | A kind of supersonic range finder of the anti-interference transless driving of multi-frequency |
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