CN1727914A - Radar set for back running - Google Patents
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- CN1727914A CN1727914A CN 200410070238 CN200410070238A CN1727914A CN 1727914 A CN1727914 A CN 1727914A CN 200410070238 CN200410070238 CN 200410070238 CN 200410070238 A CN200410070238 A CN 200410070238A CN 1727914 A CN1727914 A CN 1727914A
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Abstract
A radar for backing a car consists of digital signal processor for controlling radiation direction of phase controlled antenna, high frequency pulse generating circuit for controlling said antenna to emit microwave signal, high frequency pulse receiving circuit for obtaining signal reflected from obstacle, phase controlled antenna for emitting microwave signal and for receiving reflection signal and UWB baseband processor for confirming distance between car and obstacle.
Description
Technical field
The present invention relates to a kind of driver of convenience judges the rear obstacle orientation when reversing astern radar device.
Background technology
Astern radar device is that a kind of known automobile is equipped with part, and it is installed in the automobile car usually.At present, the astern radar device of employing is made up of main control system and some ultrasonic transmitter-receivers that is installed in the tailstock.When astern radar device in when work, main control system control ultrasonic transmitter-receiver emission ultrasonic signal and reception reflection wave, then according to the mistiming of sending ultrasonic signal and reception reflection wave, calculate the distance (hyperacoustic velocity of propagation be 340m/s) of barrier to automobile, and, astern radar device can also send the distance of the different auditory tone cues frame person of sailing attention automobiles to barrier according to the distance of distance, such as, when barrier when the distance of automobile is very near, astern radar device can send very rapid auditory tone cues driver and note.
See also Fig. 1, it is a sensing range synoptic diagram of astern radar device.This astern radar device adopts ultrasonic transmitter-receiver A, ultrasonic transmitter-receiver B to transmit and receive hyperacoustic work.Desirable sensing range is a rectangle, but, because in fact the ultrasonic signal that ultrasonic transmitter-receiver A, B send is fan-shaped propagation (as shown in Figure 1), therefore when barrier is arranged in the regional b3 that Fig. 1 two fan-shaped emitting areas do not contain, astern radar device will detect the situation that occurs failing to report less than any object, and this zone is referred to as the blind area usually.
In order effectively to dwindle the zone of detecting blind area b3, astern radar device has increased the number of ultrasonic transmitter-receiver.See also Fig. 2, on back seat, be arranged side by side 4 ultrasonic transmitter-receivers, though this radar for backing car structure has effectively been dwindled b3 zone, blind area, but, at two exterior lateral area b1, the b2 of fan-shaped emitting area, still there is the detecting blind area, thereby becomes the potential safety hazard when moveing backward.
What is more important, ultrasonic listening are to receive the reflected energy of returning according to measurement just to judge whether to exist barrier.For fear of the situation that wrong report occurs, a threshold value can be set usually as reference point in the main control system of astern radar device, when the reflected energy that reflects was lower than this threshold value, astern radar device is just thought did not have barrier in predetermined scope, thereby does not send alerting signal; Otherwise it is just thought have barrier in predetermined scope, and sends corresponding alerting signal according to its barrier with the distance of automobile.But, the reflected energy intensity that reflects just is to follow the reflective surface area size of barrier to be directly proportional, that is to say, the area of the reflected signal of barrier is more little, the intensity of the signal energy that reflects is more little, and in this case, just might there be situation about failing to report in radar for backing car, thereby the radar for backing car of influence detecting precision, and then incidents generations such as side swipe, collision appear.Such as: barrier is during such as thin projections such as reinforcing bars, because it is thin stripe type, reflective surface area in order to reflected signal is little, so the energy intensity of reflected signal is little, thereby may occur owing to its energy intensity produces the phenomenon generation that astern radar device is not reported to the police less than preset threshold.
Tongzhi Electronic Enterprise Co., Ltd. has proposed a kind of astern radar device with multichannel display function in 2000 1 year 13 days to China Intellectual Property Office.This device sets up ultrasonic transmitter-receiver and video camera separately in tailstock appropriate location, the two connects main control system and image processing module again respectively, wherein main control system also with the image processing module line, the image processing module output terminal then is connected with the display that is positioned at the driver's seat place.During reversing, the driver at first will judge the car and obstruction distance by the image that video camera is taken in, when near barrier, ultrasonic transmitter-receiver also receives reflection wave signal simultaneously, convert communications codes to through main control system and deliver to image processing module, the Azimuth ﹠ Range of barrier also is shown on the display with the prompting driver.
But, above-mentioned radar for backing car not only comprises ultrasonic transmitter-receiver and main control system, also comprise video camera, image processing module and display etc., increased production cost, and, because there is the dead angle in the image pickup scope of radar for backing car, therefore about 110 degree of the camera angle of general video camera still exist the detecting blind area, are example with Fig. 2, even astern radar device is adopted 4 ultrasonic transmitter-receivers, still there are the detecting blind area in regional b1, b2.Also have, if barrier is positioned at outside the image pickup scope of video camera and barrier when being the ridge of elongate strip, existing astern radar device is detected probably less than this barrier, and promptly there is the not high defective of detecting precision in astern radar device.
Summary of the invention
The object of the invention is to provide a kind of radar for backing car, and being in the prior art with the problem that solves exists detecting blind area and the not high technical matters of detecting precision owing to adopt ultrasonic detection to make.
For addressing the above problem, a kind of astern radar device of the present invention comprises that the baseband processor, digital signal processor, the high-frequency impulse that adopt the UWB agreement produce circuit, high-frequency impulse receiving circuit and phased antenna, wherein:
Described digital signal processor, its input end connects baseband processor, and its output terminal connects described phased antenna, to control the radiation direction of described phased antenna;
Described high-frequency impulse produces circuit, and its input end connects described baseband processor, exports described phased antenna to produce pulse signal, makes its launched microwave signal;
Described high-frequency impulse receiving circuit, its input end connects described phased antenna, and its output terminal connects described baseband processor, with the reflected signal of acquired disturbance thing;
Described phased antenna is in order to the launched microwave signal with receive the reflected signal that barrier reflects;
Described baseband processor, in order to whether there to be the detecting process of barrier in each radiation direction in the control detection scope, and, cooperate the aerial radiation direction, thereby determine the distance of automobile and barrier according to described phased antenna launched microwave signal and the mistiming that receives reflected signal.
Above-mentioned astern radar device also comprises the control antenna switch, and it is located at high-frequency impulse and produces between circuit, high-frequency impulse receiving circuit and the phased antenna, with the emission and the reception of switching described phased antenna.
And, described baseband processor comprises: the microwave signal emission controlling unit, connect described digital signal processor and described high-frequency impulse and produce circuit, be used to send high-frequency signal to described high-frequency impulse and produce circuit, and trigger the radiation direction that described digital signal processor is changed described phased antenna; Microwave signal receives control module, connects described high-frequency impulse receiving circuit, and it is poor to be used for according to the reflected signal and the launched microwave signal time that receive, cooperates aerial radiation, determines the relative position of automobile and barrier.
Wherein, described high-frequency impulse receiving circuit comprises: the high-frequency impulse frequency selector, in order to obtain to preestablish the signal of frequency range the microwave signal that receives from described phased antenna; Amplifier connects described high-frequency impulse frequency selector, carries out processing and amplifying in order to the signal that will obtain; The transistor detecting circuit connects described amplifier and described baseband processor respectively, carries out detection in order to the signal after will amplifying and handles, and obtains described reflected signal, and described reflected signal is sent to described baseband processor.
Astern radar device comprises also and described baseband processor microprocessor linked and the external unit that is connected with described microprocessor that the described automobile that described microprocessor basis obtains and the distance of barrier are sent alarm signal to drive described external unit from described baseband processor.Described external unit comprises sound-producing device, light-emitting device and display device.
Astern radar device also comprises respectively the crystal oscillator that is connected with described microprocessor with described baseband processor, so that a stable clock to be provided.
The present invention is based on above-mentioned astern radar device a kind of method of obstruction detection is provided, described astern radar device comprises that the baseband processor, the high-frequency impulse that adopt the UWB agreement produce circuit, digital signal processor, phased switch and high-frequency impulse receiving circuit, this method may further comprise the steps: (1) baseband processor is sent pulse signal tremendously high frequency pulse-generating circuit, and send pulse signal triggered digital signal processor, make the transmit direction of its change phased antenna; (2) described high-frequency impulse produces circuit and produces high-frequency signal, and is sent to described phased antenna; (3) described phased antenna sends signal according to the radiation direction of described DSP CONTROL; (4) when described phased antenna receives high-frequency signal in the predefined time, from the signal that receives, extract the reflected signal of described barrier by the high-frequency signal receiving circuit, and described reflected signal is sent to baseband processor; (5) described baseband processor is calculated the distance between automobile and barrier according to transmitting and receiving the mistiming and the aerial radiation direction of reflected signal; (6) described baseband processor judges whether to have detected all sensing ranges, if withdraw from detecting, otherwise, proceed step (1).
In addition, step (4) also comprises when described phased antenna does not receive high-frequency signal in the predefined time, judges whether to have detected all sensing ranges, if, finish detecting, otherwise, proceed step (1).
Above-mentioned to judge whether to have detected all sensing ranges be to finish by following steps: in advance sensing range is divided into 19 main lobe zones; Judge whether the detecting count value equals 19, if, detected all sensing ranges, if not, the detecting count value adds 1, has not detected all sensing ranges.
Compared with prior art, the present invention has the following advantages:
The present invention adopts the UWB technology, (baseband processor detects whether there is barrier in each main lobe successively to produce 19 main lobes by phased antenna in a plane, if there is barrier, baseband processor can obtain the distance of automobile and barrier from phased antenna receives the reflected signal of returning, and the intact main lobe of the every detection of baseband processor, DSP changes the direction that phased antenna transmits by control, can detect whether there is barrier in the next main lobe.There is not the detecting blind area in above-mentioned radar for backing car, and because UWB, makes the little barrier of reflective surface area such as elongate strip can detect yet, thereby has improved the precision of detecting.Also have,, thereby improved the speed of detecting because the transfer rate of microwave signal is faster than the speed that available technology adopting ultrasound wave transmits.In addition, after astern radar device was opened, vehicle is the distance of barrier in the preset range behind the inspection vehicle at any time, and in time send warning, especially when running at high speed, prevent that as far as possible the back vehicle from knocking this car, and then reduce the generation of vehicle rear crash event on the highway.
Description of drawings
Fig. 1 is a sensing range synoptic diagram that adopts the astern radar device of two ultrasonic transmitter-receivers;
Fig. 2 is a sensing range synoptic diagram that adopts the astern radar device of four ultrasonic transmitter-receivers;
Fig. 3 is the structural representation of astern radar device of the present invention;
Fig. 4 produces the synoptic diagram of 19 main lobe radiation for phased antenna of the present invention;
Fig. 5 is the structural representation of an embodiment of astern radar device of the present invention;
Fig. 6 is the schematic flow sheet that astern radar device of the present invention carries out obstruction detection.
Embodiment
Below in conjunction with accompanying drawing, specify the present invention.
Ultrawideband (UWB) is new another short distance high-speed radiocommunication technology of releasing in recent years, this technology is developed for military purposes, along with it goes through civilianly, and with the frequency band of 3.1-10.6GHZ, make UWB obtain the possibility of high speed development as UWB.At present, UWB is considered to " being expected to replace the wireless communication technology of bluetooth and wireless limitation net ".
Why UWB causes people's great attention, is because it has many characteristics:
1. strong anti-interference performance
UWB adopts the frequency-hopping spread spectrum signal, and system has bigger processing gain, when emission with faint wireless pulse signals disperse in broad frequency band, output power even be lower than the noise of conventional equipment generation.During reception signal energy is restored, in despreading process, produce spreading gain.Therefore, compare with bluetooth with IEEE802.11a, IEEE 802.11b, under the fast condition of equal sign indicating number, UWB has stronger anti-interference.
2. transfer rate height
The data rate of UWB can reach tens Mbit/s to hundreds of Mbit/s.
3. broader bandwidth
The bandwidth that UWB uses is more than 1GHZ, up to several GHZ.The radio ultra wide band system capacity is big, and can work simultaneously with present narrow-band communication system and not disturb mutually.
4. consumed power is little
Generally, wireless communication system needs emission carrier wave continuously when communication, therefore, consume certain electric energy.And UWB does not use carrier wave, just sends momentary pulse electric wave (being also referred to as microwave), just directly sends by 0 and 1, and has only and just send pulse radio when needed, so the pulse signal consumed power of UWB puberty is little.
5. good confidentiality
UWB confidentiality performance is both ways: be just can solve the emission data when adopting frequency-hopping spread spectrum, receiver to have only known transmitting terminal spreading code on the one hand; The transmit power spectral density that is system on the other hand is extremely low, can't receive with traditional receiver.
6. transmitted power is very little
The UWB system emission power is very little, and communication facilities can use the emissive power less than 1mW just can realize communication.Low emissive power prolongs the system power supply working time greatly.Moreover emissive power is little, and its electromagenetic wave radiation also can be very little to the influence of human body.Like this, the application surface of UWB is just wide.
Because UWB has above-mentioned advantage, the present invention has adopted the UWB technological development a kind of astern radar device sees also Fig. 3, and it is a kind of structural representation of astern radar device of the present invention.This astern radar device comprises that the baseband processor 11, digital signal processor 12, the high-frequency impulse that adopt the UWB agreement produce circuit 13, high-frequency impulse receiving circuit 14 and phased antenna 15, wherein:
Baseband processor 11, adopt the baseband processor of UWB consensus standard, in order to the whole detecting process of control astern radar device, and according to phased antenna 15 launched microwave signals and the mistiming that receives reflected signal, cooperate the aerial radiation direction, determine the distance of automobile and barrier;
Digital signal processor (DSP) 12, its input end connects baseband processor 11, and its output terminal connects phased antenna 15, changes the radiation direction of phased antenna 15 under the control of baseband processor 11;
High-frequency impulse produces circuit 13, and its input end connects baseband processor 11, and its output terminal connects phased antenna 15, exports phased antenna 15 to produce pulse signal under the control of baseband processor 11, makes its launched microwave signal;
High-frequency impulse receiving circuit 14, its input end connects phased antenna 15, and its output terminal connects baseband processor 11, whether judgement obtains the received signal that phased antenna 15 sends in official hour, if, reflected signal is carried out despreading produce spreading gain, obtain the reflected signal of barrier;
Because phased antenna produces the main lobe of 1000 different angle in the timesharing of forward radiation direction, phased antenna of the present invention produces 19 main lobes (seeing also Fig. 4) in a plane, baseband processor 11 detects whether there is barrier in each main lobe successively, if there is barrier, baseband processor 11 can obtain the distance of automobile and barrier from the reflected signal that phased antenna 15 receptions are returned, and the intact main lobe of baseband processor 11 every detections, DSP12 changes the direction that phased antenna transmits by control, can detect whether there is barrier in the next main lobe.There is not the detecting blind area in above-mentioned radar for backing car, and because UWB, makes the little barrier of reflective surface area such as elongate strip can detect yet, thereby has improved the precision of detecting.
Above-mentioned astern radar device can obtain whether to exist in the main lobe barrier by following steps:
At first, baseband processor 11 is sent pulse signal tremendously high frequency pulse-generating circuit 13, and sends pulse signal triggered digital signal processor 12, makes the transmit direction of its change phased antenna, and pulse signal can be an all "1"s signal;
Then, high-frequency impulse produces and produces high-frequency signal after circuit 13 receives pulse signal, and high-frequency signal is sent to described phased antenna 15, makes its launched microwave signal, and radiation direction is controlled by digital signal processor 12;
Subsequently, baseband processor 11 judges whether to receive the information of the reflected signal of the barrier that high-frequency impulse receiving circuit 14 sends in the predefined time, if, the time of record reflected signal, and then calculate the distance signal of the barrier in this main lobe, otherwise baseband processor 11 is thought do not have barrier at present in this main lobe.
More than be whether to have barrier and when having barrier, estimate the information such as distance between barrier and the vehicle in main lobe of this astern radar device detecting, repeat above-mentioned steps, be closed until astern radar device.
Below just lift a specific embodiment, specify astern radar device of the present invention.See also Fig. 5, it is the structural representation of an embodiment of astern radar device of the present invention.It comprises that the baseband processor 11, DSP12, the high-frequency impulse that adopt the UWB standard produce circuit 13, high-frequency impulse receiving circuit 14, phased antenna 15, control antenna switch 16, crystal oscillator 17, RAM18, microprocessor 19, external unit 20 and power supply 21.Wherein:
Microwave signal receives control module 112, connect described high-frequency impulse receiving circuit 14, be used for according to the signal that receives with transmit the mistiming, cooperate the aerial radiation angle, determine the relative position of automobile and barrier, even can just estimate relative velocity between automobile and the barrier slightly, this can introduce in the principle of work of follow-up radar for backing car in detail.
High-frequency impulse produces circuit 13, can be a pulse generator that produces fixed frequency, and corresponding with this frequency is the bandwidth of the received signal pulse of high-frequency impulse receiving circuit.
High-frequency impulse receiving circuit 14 of the present invention obtains the signal of certain frequency from the signal that receives, can be realized by a lot of circuit.High-frequency impulse receiving circuit 14 of the present invention is made up of high-frequency impulse frequency selector 141, amplifier 142 and transistor detecting circuit 143.
High-frequency impulse frequency selector 141 is in order to obtain the signal of predefined frequency range the microwave signal that receives from described phased antenna 15; This frequency is corresponding with the frequency that high-frequency signal produces circuit 13 signal that produces; Amplifier 142 connects high-frequency impulse frequency selector 141, carries out processing and amplifying in order to the signal that will obtain; Transistor detecting circuit 143 connects described amplifier 142 and described baseband processor 11 respectively, carries out detection in order to the signal after will amplifying and handles, and obtains described reflected signal.
At above-mentioned astern radar device, the present invention also provides its principle of work introduction, sees also Fig. 6, and it is the process flow diagram of radar for backing car obstruction detection.This method may further comprise the steps:
S110: baseband processor 11 is sent pulse signal tremendously high frequency pulse-generating circuit, and sends pulse signal triggered digital signal processor 12, makes the transmit direction of its change phased antenna, and pulse signal can be an all "1"s signal;
S120: high-frequency impulse produces and produces high-frequency signal after circuit 13 receives pulse signal, and high-frequency signal is sent to described phased antenna 15;
S130: described phased antenna 15 sends signal according to the radiation direction of digital signal processor 12 controls, and this signal is a microwave signal;
S140: judge whether phased antenna 15 receives high-frequency signal in the predefined time, if carry out step S150, otherwise the transmit direction of change phased antenna repeats step S110;
S150: from the signal that receives, extract the reflected signal of barrier by high-frequency signal receiving circuit 14, and reflected signal is sent to baseband processor 11;
S160: baseband processor 11 is calculated the distance between automobile and barrier according to transmitting and receiving the mistiming and the aerial radiation direction of reflected signal, and alarm;
Because phased antenna produces 19 main lobe radiation with a detection plane timesharing, such as on N main lobe, finding a barrier, can determine the angle ω of this barrier and level, the mistiming of supposing to transmit and receiving reflected signal is T, then between automobile and barrier apart from S=0.5*T*V*cos ω, wherein V is the speed of microwave.
In the present embodiment, baseband processor not only can calculate the distance between automobile and barrier, and can also calculate the relative velocity between automobile and barrier.Because S=0.5*T*V*cos ω, obtain in the adjacent main lobe barrier at first respectively to the distance of automobile, then according to V
Relatively=(S2-S1)/T
Difference, wherein, V
RelativelyBe the relative velocity of barrier and automobile, S2, S1 are respectively in the two adjacent main lobes barrier to the distance of automobile, T
DifferenceDetect the mistiming of described two adjacent main lobes for baseband processor.
S170: baseband processor 11 judges whether to have detected all sensing ranges, if, then control the starting point that phased antenna comes back to emission, detect again, if not, proceed step S110, until having detected all sensing ranges.When astern radar device was closed, astern radar device just can stop further to detect whether have barrier and the corresponding information of barrier in the predefined scope behind car.
Baseband processor can be sent to microprocessor 19 with the data that obtain, and the external unit that is sent to as display etc. by microprocessor 19 shows, or carries out sounding by sound-producing device, with the prompting driver.
Owing to adopt phased antenna, a detection plane timesharing can be carried out 19 main lobe radiation, judge whether to have detected all sensing ranges by following steps: judge whether the detecting count value equals 19, if, all sensing ranges have been detected, if not, the detecting count value adds 1, has not detected all sensing ranges.
Also have, when adopting microwave to test, compare, can improve the speed of detecting with the astern radar device of prior art.
Below with needed time of object of the 5 meters distances in detection range vehicle body back be example:
Adopt supersonic sounding: T=2S/V, V=340m/s to obtain the time to be: adopted microwave sounding in 0.03 second: T=2S/V C=300000000m/s obtains the time and is: 0.00000003 second.That is to say,, use microwave sounding can gather nearly 1,000,000 data in theory using the supersonic sounding technology to collect in the time of data.This high data acquisition can bring benefit to be through handling:
1) can find the barrier at rear fast, and accurate Calculation relative distance between the two.
2) can calculate relative velocity between car body and barrier in the short time at the utmost point.This point for highway driving anti-knock very useful, and adopt supersonic sounding do substantially less than.
Above-mentioned disclosed only be a specific embodiment of the present invention, but protection point of the present invention is not limited thereto, any those skilled in the art can think variation all should fall within the scope of protection of the present invention.
Claims (10)
1, a kind of astern radar device is characterized in that, comprises that the baseband processor, digital signal processor, the high-frequency impulse that adopt the UWB agreement produce circuit, high-frequency impulse receiving circuit and phased antenna, wherein:
Described digital signal processor, its input end connects baseband processor, and its output terminal connects described phased antenna, to control the radiation direction of described phased antenna;
Described high-frequency impulse produces circuit, and its input end connects described baseband processor, exports described phased antenna to produce pulse signal, makes its launched microwave signal;
Described high-frequency impulse receiving circuit, its input end connects described phased antenna, and its output terminal connects described baseband processor, with the reflected signal of acquired disturbance thing;
Described phased antenna is in order to the launched microwave signal with receive the reflected signal that barrier reflects;
Described baseband processor, in order to whether there to be the detecting process of barrier in each radiation direction in the control detection scope, and, cooperate the aerial radiation direction, thereby determine the distance of automobile and barrier according to described phased antenna launched microwave signal and the mistiming that receives reflected signal.
2, astern radar device as claimed in claim 1 is characterized in that, also comprises the control antenna switch, and it is located at high-frequency impulse and produces between circuit, high-frequency impulse receiving circuit and the phased antenna, with the emission and the reception of switching described phased antenna.
3, astern radar device as claimed in claim 1 or 2 is characterized in that, described baseband processor comprises:
The microwave signal emission controlling unit connects described digital signal processor and described high-frequency impulse and produces circuit, is used to send high-frequency signal to described high-frequency impulse and produces circuit, and trigger the radiation direction that described digital signal processor is changed described phased antenna;
Microwave signal receives control module, connects described high-frequency impulse receiving circuit, and it is poor to be used for according to the reflected signal and the launched microwave signal time that receive, cooperates aerial radiation, determines the relative position of automobile and barrier.
4, astern radar device as claimed in claim 1 or 2 is characterized in that, described high-frequency impulse receiving circuit comprises:
The high-frequency impulse frequency selector is in order to obtain to preestablish the signal of frequency range the microwave signal that receives from described phased antenna;
Amplifier connects described high-frequency impulse frequency selector, carries out processing and amplifying in order to the signal that will obtain;
The transistor detecting circuit connects described amplifier and described baseband processor respectively, carries out detection in order to the signal after will amplifying and handles, and obtains described reflected signal, and described reflected signal is sent to described baseband processor.
5, astern radar device as claimed in claim 1 or 2, it is characterized in that, also comprise with described baseband processor microprocessor linked reaching the external unit that is connected with described microprocessor, described microprocessor sends alarm signal according to the described automobile that obtains and the distance of barrier to drive described external unit from described baseband processor.
6, astern radar device as claimed in claim 5 is characterized in that, described external unit comprises sound-producing device, light-emitting device and display device.
7, radar for backing car as claimed in claim 5 is characterized in that, also comprises respectively the crystal oscillator that is connected with described microprocessor with described baseband processor, so that a stable clock to be provided.
8, a kind of method of astern radar device obstruction detection, it is characterized in that, described astern radar device comprises that the baseband processor, the high-frequency impulse that adopt the UWB agreement produce circuit, digital signal processor, phased switch and high-frequency impulse receiving circuit, and this method may further comprise the steps:
(1) baseband processor is sent pulse signal tremendously high frequency pulse-generating circuit, and sends pulse signal triggered digital signal processor, makes the transmit direction of its change phased antenna;
(2) described high-frequency impulse produces circuit and produces high-frequency signal, and is sent to described phased antenna;
(3) described phased antenna sends signal according to the radiation direction of described DSP CONTROL;
(4) when described phased antenna receives high-frequency signal in the predefined time, from the signal that receives, extract the reflected signal of described barrier by the high-frequency signal receiving circuit, and described reflected signal is sent to baseband processor;
(5) described baseband processor is calculated the distance between automobile and barrier according to transmitting and receiving the mistiming and the aerial radiation direction of reflected signal;
(6) described baseband processor judges whether to have detected all sensing ranges, if withdraw from detecting, otherwise, proceed step (1).
9, the method for astern radar device detecting car and obstruction as claimed in claim 8, it is characterized in that, step (4) also comprises when described phased antenna does not receive high-frequency signal in the predefined time, judge whether to have detected all sensing ranges, if, finish detecting, otherwise, proceed step (1).
10, the method for astern radar device detecting car and obstruction as claimed in claim 8 or 9, it is characterized in that: judging whether to have detected all sensing ranges is to finish by following steps:
In advance sensing range is divided into 19 main lobe zones;
Judge whether the detecting count value equals 19, if, detected all sensing ranges, if not, the detecting count value adds 1, has not detected all sensing ranges.
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| CN 200410070238 CN1727914B (en) | 2004-07-30 | 2004-07-30 | Radar set for back running |
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| CN102508235A (en) * | 2011-10-08 | 2012-06-20 | 天津理工大学 | Radar ranging system for realizing time-voltage conversion by using integration method |
| CN102848973A (en) * | 2012-09-25 | 2013-01-02 | 浙江吉利汽车研究院有限公司杭州分公司 | System and method for detecting dead zone of vehicle rearview mirror |
| CN109104403A (en) * | 2017-06-21 | 2018-12-28 | 沃尔沃汽车公司 | Method and system for preventing physical layer trunking from attacking |
| CN109766851A (en) * | 2019-01-15 | 2019-05-17 | 珠海格力电器股份有限公司 | Determination method and device, the Car reversion image-forming equipment of barrier |
| CN112596111A (en) * | 2020-11-04 | 2021-04-02 | 普联技术有限公司 | Obstacle identification method, device and equipment and readable storage medium |
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| CN102508235A (en) * | 2011-10-08 | 2012-06-20 | 天津理工大学 | Radar ranging system for realizing time-voltage conversion by using integration method |
| CN102848973A (en) * | 2012-09-25 | 2013-01-02 | 浙江吉利汽车研究院有限公司杭州分公司 | System and method for detecting dead zone of vehicle rearview mirror |
| CN102848973B (en) * | 2012-09-25 | 2016-03-30 | 浙江吉利汽车研究院有限公司杭州分公司 | Blind area of vehicle rear mirror detection system and method |
| CN109104403A (en) * | 2017-06-21 | 2018-12-28 | 沃尔沃汽车公司 | Method and system for preventing physical layer trunking from attacking |
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| CN112596111A (en) * | 2020-11-04 | 2021-04-02 | 普联技术有限公司 | Obstacle identification method, device and equipment and readable storage medium |
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