CN1818711A - Echo anti-inter-ference method of parking auxiliary system - Google Patents
Echo anti-inter-ference method of parking auxiliary system Download PDFInfo
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Abstract
An echo antiinterference method of car parking auxiliary system includes outputting binary random digit by control module, comparing adjacent value at any digital section of certain random digit with number of silent ultrasonic detection head, sending receiving a group of multiple detection signal by ultrasonic detection head in set periodical range and in interval way, comparing two or above detection values in one group to see whether they are within range of allowable value or not, hold detection value as valid value and outputting it as control signal of said system if it is or otherwise discarding detection value and returning back to starting step .
Description
Technical field
The present invention relates to a kind of parking of automobile backup system, more particularly, the present invention relates to a kind of echo anti-inter-ference method of parking auxiliary system.
Background technology
Parking assistance system is to utilize whether the ultrasound wave principle detects barrier on the motor racing direction system.Parking assistance system can be divided into two kinds of reversing auxiliary type and parking auxiliary types.Only at automobile rear bumper the ultrasound examination probe is installed, radar for backing car also is in the promptly so-called auxiliary type system of moveing backward.Common radar for backing car has two ultrasonic sensors, three ultrasonic sensors, four ultrasonic sensors or six ultrasound examination probes; At automobile rear bumper and front bumper the ultrasound examination probe has been installed all, promptly so-called parking auxiliary type system.The front bumper generally is equipped with two, and three, four, six ultrasound examination probes.
The principle of work of existing parking assistance system is that each probe detects in turn, and each several ultrasound wave of probe emission is waited for receiving its close echo then.According to from launching ultrasound wave, can calculate the minimum distance of work at present ultrasonic probe to barrier to the time that receives its close echo.By comparing each detected minimum distance of popping one's head in (several probes that same direction detects), can draw the distance of the detected nearest barrier of same direction.According to this minimum distance, offer the driver by reporting to the police or showing, avoid colliding or other accident, allow the driver drive more like a cork, reversing.
If the automobile of same type parking assistance system has been installed, under the situation that a car operation is only arranged around it (not having two car move toward one another), parking assistance system can be avoided external interference effectively, stably works.But, if two automobiles that the same type parking assistance system has been installed are contiguous mutually, in (phenomenon for convenience of explanation, be assumed to be X car and Y car) when moveing backward in opposite directions (because the phenomenon of the phenomenon that other two cars move toward one another produces when moveing backward in opposite directions is the same, here only be example when moveing backward in opposite directions), two cars will produce serious disturbance.(A1, B1, C1, D1 as shown in Figure 1; A2, B2, C2, D2 are respectively the ultrasound examination probe that two cars are installed).
Particularly serious to the mutual interference phenomenon in 600cm place at two cars at a distance of 200cm.And in this zone, for reversing, should be the zone of a safety.When two cars were moveed backward in opposite directions, no matter be X car or Y car, the signal that all can constantly be subjected to the other side's car disturbed, the alarm of constantly sending wrong distance, and also this interference can not disappear.At this moment, system has lost the auxiliary function of reversing, has no idea to discern automobile back barrier.
Summary of the invention
Above-mentioned shortcoming at prior art, the objective of the invention is to provide a kind of echo anti-inter-ference method of parking auxiliary system, this echo anti-inter-ference method of parking auxiliary system problem is to adopt a kind of random device to control the emission and the detection of ultrasound examination probe, thereby when eliminating the two car move toward one another that the same type parking assistance system is installed, interfering with each other between the parking assistance system.
For this reason, technical solution of the present invention is a kind of echo anti-inter-ference method of parking auxiliary system, this parking assistance system comprises the ultrasonic inspection probe more than 2 or 2, the control module that is located at automotive front end and/or rear end, and this echo anti-inter-ference method comprises the steps: F1) control module exports the scale-of-two random number of its numerical value greater than described ultrasonic inspection probe numbering; F2) the adjacent numerical value of any numerical digit section of a certain random number is compared with the numbering of the ultrasonic inspection probe of mourning in silence; F3) start the ultrasonic inspection probe that its numbering conforms to the adjacent numerical value of random number, in the group periodic regime of setting, send out/receive one group of a plurality of detection signal by random interval; F4) calculate detected value successively, relatively whether the detected value more than 2 or 2 in a group is in tolerance; F5) if, detected value in the franchise saved as effective value and is output as the control signal of described parking assistance system, turn to step F 1; If not, should organize detected value and abandon, turn to step F 1.Method of the present invention is a kind of improvement of software algorithm, is convenient to use and promote.Only need the software of change parking assistance system, no matter be the C language, or assembly language, perhaps other, as long as used this software algorithm, just can solve the phase mutual interference between the same type parking assistance system.
Software algorithm control ultrasonic sensor probe of the present invention is worked in random time mode at interval, rather than with fixing order, interval mode work.The benefit of random fashion work is that when two systems worked in opposite directions, even undesired signal for the first time occurred, because system all is with random fashion work each other, undesired signal next time not necessarily can occur.With four ultrasonic sensors is example, and four sensors of first system of X car are A1, B1, and C1, D1, four sensors of second system of Y car are A2, B2, C2, D2 (as shown in Figure 2).If the sensor disturbance signal of Y car C2 has interfered with the A1 sensor of X car for the first time, because the sensor working of X car, Y car is at random, the signal of next cycle Y car C2 sensor not necessarily can disturb the A1 sensor of X car.This working method at random from anti-interference angle, has reduced the possibility of being disturbed each other, that is to say, improved the anti-interference of system, system can more stably work.
For optimizing above-mentioned echo anti-inter-ference method, the described step F 5 of reality of the present invention also comprises: before should organizing the detected value abandonment, whether the effective value in certain detected value in more relatively should group and last group is in tolerance, if, control signal with detected value in this group franchise saves as effective value and is output as described parking assistance system turns to step F 1; If not, should organize detected value and abandon, turn to step F 1.
In the described step F 3, control described random interval in the scope of 20ms-40ms.
In the described step F 1, control the output cycle of described random number and described group of cycle synchronisation takes place and value is suitable.
In the described group of periodic regime, control 3 detection signals of every group of emission.
One end of described automobile is provided with 2-6 ultrasonic inspection probe.
The invention will be further described below in conjunction with the drawings and specific embodiments.
Description of drawings
Fig. 1 is travel the relatively phase mutual interference synoptic diagram of each car probe of when reversing of two cars.
Fig. 2 is that synoptic diagram is disturbed in travel the relatively elimination randomly of each car probe of when reversing of two cars.
Fig. 3 is the main-process stream block diagram of the inventive method embodiment.
Fig. 4 controls the branch flow process synoptic diagram that 4 probes are worked at random for the inventive method embodiment.
Embodiment
As Fig. 3, be depicted as the main-process stream block diagram of echo anti-inter-ference method of parking auxiliary system embodiment of the present invention.A kind of echo anti-inter-ference method of parking auxiliary system, this parking assistance system comprises 4 ultrasonic inspection probe A, B, C, D and control modules that are located at automotive front end or rear end, and this echo anti-inter-ference method comprises the steps: F1) control module exports the scale-of-two random number of its numerical value greater than described ultrasonic inspection probe numbering; F2) the adjacent numerical value of the low order bit section of a certain random number is compared with the numbering of the ultrasonic inspection probe of mourning in silence; F3) start the ultrasonic inspection probe that its numbering conforms to the adjacent numerical value of random number, in the group periodic regime of setting, send out/receive one group of a plurality of detection signal by random interval; F4) F41: calculate detected value successively, F42: the detected value more than 2 or 2, the F43 in a group relatively: judge that detected value is whether in tolerance; F5) F51: if, detected value in the franchise saved as effective value and be output as the control signal of described parking assistance system, turn to step F 1; If not, F52: certain detected value in more relatively should group with last group in effective value whether in tolerance, if, F51: will organize the control signal that the interior detected value of franchise saves as effective value and is output as described parking assistance system, and turn to step F 1; If not, F53: should organize detected value and abandon, and turn to step F 1.
In the described step F 3, control described random interval in the scope of 20ms-40ms.
In the described step F 1, control the output cycle of described random number and described group of cycle synchronisation takes place and value is suitable.
In the described group of periodic regime, control 3 detection signals of every group of emission.
As Fig. 4, be depicted as the inventive method embodiment and control the branch flow process synoptic diagram that 4 probes are worked at random.Control mould fast random delay subroutine produces a random number R that contains the numbering 00,01,10 of 4 probes such as A, B, C, D at random, compares low two accordances with the numbering of 4 probes among the R then one by one, numbers the probe that meets and promptly starts working.
The method embodiment supposes that it is 100cm that current probe detects distance range, and other sensing range only need change this value and get final product; Represent the last coverage that detects with DIST, d1, d2, d3 are respectively the distance that current probe continuous detecting is preserved for three times, and unit is cm; With d1, d2, d3 be respectively current probe continuous detecting detect for three times distance, unit is cm.For each work probe, its test procedure is as follows: probe emission ultrasound wave also receives its close echo, by receiving hyperacoustic mistiming from being transmitted into, calculate this barrier of popping one's head in apart from d1.Considering at the spaciousness place does not have barrier and the interference that prevents self, behind the emission ultrasound wave, if do not detect barrier in the time at T1, assert that the back is spacious local, does not have barrier, stops wait, continues next step judgement:
Is module calculated the last detected coverage DIST＞100cm? then do to detect for the second time as confirming, detect distance and be d2, the used T2 that is spaced apart calculates: d1＞=d2, Yi Ji ﹠amp again; ﹠amp; (d2+5)＞=d1? if not,, return invalid when inferior detection; In this way, detect for the third time, detect distance and be d3, the used time is T3, calculates: d2＞=d3, ﹠amp; ﹠amp; (d3+5)＞=d2? if distance is effective, preserving distance is DIST.
Be false but calculate the last detected coverage DIST＞100cm as module, then further calculate DIST＞=d1 and, (d1+5cm)＞=DIST? in this way, repeat above second and third time and detect step and same treatment logic; As denying the step under changeing:
Do you calculate d1＞DIST and (DIST+5cm)＞=d1? in this way, repeat above second and third time and detect step and same treatment logic; As denying the step under changeing again:
Do to detect for the second time, detect distance and be d2, the used time is T2, calculates d1＞=d2, ﹠amp; ﹠amp; (d2+5)＞=d1? in this way or as not, all repeat similar above-mentioned steps.
According to the above-mentioned steps logic, certain single probe carries out once effectively detecting and need and detect its close echo apart from d1 by continuous quadratic or three emissions, d2, and d3 realizes; And time interval T1, the T2 of every adjacent Secondary Emission, the interval between the T3 do not fix, but at random (in general, this random time will drop on 20ms at interval between the 40ms, and the ultrasound examination that this and system the install number of popping one's head in is relevant).By continuous quadratic or three times emission with detect its close echo, can effectively avoid the interference of extraneous momentary signal.For example, detecting a disturbed signal d1 after the emission for the first time, it is very low that emission for the second time detects the possibility that receives disturbed signal once more.Because occur undesired signal for the second time the moment must and the interval of this adjacent Secondary Emission add be transmitted into the time that detects undesired signal the first time could be detected when roughly the same, otherwise this undesired signal will be filtered.Because adjacent Secondary Emission interlude is at random, the probability that such undesired signal occurs seldom.If the signal value d1 that the front Secondary Emission occurs, d2 is irregular, will launch for the third time and detect, and has so just dropped to the possibility of undesired signal EVAC (Evacuation Network Computer Model) minimum.Like this, system's anti-interference is very high, and system is steady operation more.If but detect greater than three emissions, will reduce the frequency of each probe work, the sensitivity that system detects will reduce, so the number of times that two to three emissions detect is than preferable.Like this, by time interval T1, the T2 of every adjacent Secondary Emission, the random interval of T3, the phase mutual interference between the reduction system greatly.
Be example again with Fig. 2.If the emission for the first time of the ultrasound examination of Y car probe C2 probe has interfered with the ultrasound examination probe A 1 of X car, because it is unfixing that the sensor C2 of Y car launches the cycle for the second time, the A1 sensor of X car is launched also unfixing for the second time, and sensor C2 disturbs the notion of the A1 sensor probe of X car to reduce greatly for the second time.By this method, greatly reduce X car and the Y car possibility of mutual interference mutually.Certainly, the time cycle of secondary adjacent transmission must be greater than 20ms, otherwise will cause interfering with each other between the adjacent transmission secondary.But can not be too big, if the cycle is oversize, the detection frequency of each probe will reduce, the sensitivity of system will be greatly affected greatly like this.Therefore, this time cycle at random is chosen in 20ms and is one to 40ms and can either avoids the interference of adjacent Secondary Emission than preferable value, and the phase mutual interference between again can the elimination system can also not influence the sensitivity of system.
Comprehensive above 3 points, adopt the work of ultrasound examination probe random fashion, repeatedly emission is finished once affirmation, the adjacent Secondary Emission time interval at random, interfering with each other in the time of can effectively avoiding two car move toward one another, system can effectively avoid external interference, and system can more stably work.
Claims (6)
1, a kind of echo anti-inter-ference method of parking auxiliary system, this parking assistance system comprises the ultrasonic inspection probe more than 2 or 2, the control module that is located at automotive front end and/or rear end, and this echo anti-inter-ference method comprises the steps: F1) control module exports the scale-of-two random number of its numerical value greater than described ultrasonic inspection probe numbering; F2) the adjacent numerical value of any numerical digit section of a certain random number is compared with the numbering of the ultrasonic inspection probe of mourning in silence; F3) start the ultrasonic inspection probe that its numbering conforms to the adjacent numerical value of random number, in the group periodic regime of setting, send out/receive one group of a plurality of detection signal by random interval; F4) calculate detected value successively, relatively whether the detected value more than 2 or 2 in a group is in tolerance; F5) if, detected value in the franchise saved as effective value and is output as the control signal of described parking assistance system, turn to step F 1; If not, should organize detected value and abandon, turn to step F 1.
2, echo anti-inter-ference method of parking auxiliary system as claimed in claim 1, it is characterized in that: described step F 5 also comprises: before should organizing the detected value abandonment, whether the effective value in certain detected value in more relatively should group and last group is in tolerance, if, control signal with detected value in this group franchise saves as effective value and is output as described parking assistance system turns to step F 1; If not, should organize detected value and abandon, turn to step F 1.
3, echo anti-inter-ference method of parking auxiliary system as claimed in claim 1 or 2 is characterized in that: in the described step F 3, control described random interval in the scope of 20ms-40ms.
4, echo anti-inter-ference method of parking auxiliary system as claimed in claim 1 or 2 is characterized in that: in the described step F 1, control the output cycle of described random number and described group of cycle synchronisation takes place and value is suitable.
5, echo anti-inter-ference method of parking auxiliary system as claimed in claim 1 or 2 is characterized in that: in the described group of periodic regime, control 3 detection signals of every group of emission.
6, echo anti-inter-ference method of parking auxiliary system as claimed in claim 1 or 2 is characterized in that: an end of described automobile is provided with 2-6 ultrasonic inspection probe.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2006100339904A CN100498371C (en) | 2006-02-24 | 2006-02-24 | Echo anti-inter-ference method of parking auxiliary system |
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| CNB2006100339904A CN100498371C (en) | 2006-02-24 | 2006-02-24 | Echo anti-inter-ference method of parking auxiliary system |
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| CN1818711A true CN1818711A (en) | 2006-08-16 |
| CN100498371C CN100498371C (en) | 2009-06-10 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102870005A (en) * | 2010-05-19 | 2013-01-09 | 三菱电机株式会社 | Obstacle detection device |
| CN103513239A (en) * | 2012-06-20 | 2014-01-15 | 中国科学院声学研究所 | Method of inhibiting direct wave interference by employing code phase modulation signal |
-
2006
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102870005A (en) * | 2010-05-19 | 2013-01-09 | 三菱电机株式会社 | Obstacle detection device |
| US8797829B2 (en) | 2010-05-19 | 2014-08-05 | Mitsubishi Electric Corporation | Obstacle detection device |
| CN102870005B (en) * | 2010-05-19 | 2015-07-08 | 三菱电机株式会社 | Obstacle detection device |
| CN103513239A (en) * | 2012-06-20 | 2014-01-15 | 中国科学院声学研究所 | Method of inhibiting direct wave interference by employing code phase modulation signal |
| CN103513239B (en) * | 2012-06-20 | 2015-09-09 | 中国科学院声学研究所 | A kind of method adopting coding phase-modulated signal to realize direct-wave jamming suppression |
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| CN100498371C (en) | 2009-06-10 |
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Assignee: Jilin Hangsheng Hongyu Electronics Co., Ltd. Assignor: Hangsheng Electronic Co., Ltd., Shenzhen City Contract record no.: 2010220000023 Denomination of invention: Echo anti-inter-ference method of parking auxiliary system Granted publication date: 20090610 License type: Exclusive License Open date: 20060816 Record date: 20100527 |
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Granted publication date: 20090610 Termination date: 20130224 |