CN205836663U - Vehicle-periphery sensory perceptual system - Google Patents
Vehicle-periphery sensory perceptual system Download PDFInfo
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- CN205836663U CN205836663U CN201620830437.2U CN201620830437U CN205836663U CN 205836663 U CN205836663 U CN 205836663U CN 201620830437 U CN201620830437 U CN 201620830437U CN 205836663 U CN205836663 U CN 205836663U
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Abstract
This utility model discloses a kind of vehicle-periphery sensory perceptual system, system is provided with master control unit, ultrasonic radar unit output detectable signal is to ultrasonic radar controller, described ultrasonic radar controller is connected with master control unit by CAN, and described master control unit connects millimetre-wave radar unit, visually-perceptible module through CAN；The system of the utility model has the advantage of takes full advantage of existing sensor technology and is integrated, and instead of the laser radar of costliness, reduces the cost of intelligent vehicle context aware systems.Use ultrasonic radar to realize proximity detection, overcome millimetre-wave radar proximity detection blind area and the highest problem of detection accuracy.
Description
Technical field
This utility model relates to intelligent vehicle technical field, is specifically related to the intelligent vehicle context aware systems of a kind of low cost.
Background technology
Vehicle to realize intelligence auxiliary driving and automatic Pilot at present, needs to detect vehicle-periphery by sensor,
Frequently with vision sensor, millimetre-wave radar sensor and laser radar sensor.The intelligent vehicle of such as Google uses 64 lines
Laser radar realizes 360 ° of detections, then coordinates vision sensor to realize the perception to surrounding, and cost is high, it is difficult to realization amount
Produce.
It is pre-that current medium-to-high grade vehicle is equipped with blind area detection, lane change auxiliary, 360 ° of panoramas, radar for backing car and frontal collisions
The active safety technologies such as police and automatic emergency brake (Autonomous Emergency Braking, AEB), the sensor related to
The sensor such as including forward sight photographic head, ultrasonic radar, millimetre-wave radar.But integral installation is relatively costly, vehicle pin can be increased
Price lattice.
Utility model content
Technical problem to be solved in the utility model is to realize a kind of low cost, vehicle-periphery sense easy to use
Know system.
To achieve these goals, the technical solution adopted in the utility model is: vehicle-periphery sensory perceptual system, and it is special
Levy and be: system is provided with master control unit, and ultrasonic radar unit output detectable signal is to ultrasonic radar controller, described super
Sound radar controller is connected with master control unit by CAN, and the target information of detection is passed through by millimetre-wave radar unit
CAN sends to described master control unit；
Described ultrasonic radar unit includes being arranged on obstacle distance information before and after vehicle front and rear collection vehicle
Ultrasonic radar, and be arranged on the ultrasonic radar of collection vehicle left and right, vehicle both sides obstacle distance information；
Described millimetre-wave radar unit includes being arranged on collection vehicle left front, vehicle front both sides and right front barrier
The millimetre-wave radar of relative distance, speed and orientation angles, is arranged on collection vehicle left back, rear view of vehicle both sides and right back
The millimetre-wave radar of barrier relative distance, speed and orientation angles, and it is arranged on vehicle front collection vehicle preceding object
Thing relative distance and the millimetre-wave radar of speed.
The every side of vehicle is equipped with two groups of curb radar cells, and one group is positioned at headstock, and another group is positioned at the tailstock, described curb
Radar cell exports closely obstacle signal and, to master control unit, often organizes described curb radar cell and include two top-bottom layout
Fixing radar sensor, and the radar sensor of every group curb radar cell is smaller than 5cm.
Described master control unit is arranged on car through CAN JA(junction ambient) perception photographic head, described environment sensing photographic head
Interior front portion, collection vehicle image information in front.
Described master control element output signal is to the alarm unit in car and display unit.
Described master control unit outputs control signals to car door lock control unit and vehicle actively brak control unit.
The system of the utility model has the advantage of takes full advantage of existing sensor technology and is integrated, and instead of high
Expensive laser radar, reduces the cost of intelligent vehicle context aware systems.Use ultrasonic radar to realize proximity detection, overcome
Millimetre-wave radar proximity detection blind area and the highest problem of detection accuracy.
Accompanying drawing explanation
Labelling in the content expressed every width accompanying drawing in this utility model description below and figure is briefly described:
Fig. 1 is vehicle-periphery sensory perceptual system block diagram；
Fig. 2 is vehicle-periphery sensory perceptual system scheme of installation；
Labelling in above-mentioned figure is: 1, master control unit；2, ultrasonic radar unit；3, ultrasonic radar controller,
4, millimetre-wave radar unit；5, curb radar cell；6, environment sensing photographic head.
Detailed description of the invention
The application can comprehensively utilize existing sensor technology, substitutes laser radar and realizes the sense to vehicle-periphery
Know, it is achieved auxiliary is driven and automatic Pilot, it will be substantially reduced intelligent vehicle technical costs, accelerate intelligent vehicle industrialization paces.
As it is shown in figure 1, vehicle-periphery sensory perceptual system includes master control unit 1, ultrasonic radar unit 2, ultrasound wave
Radar controller 3, millimetre-wave radar unit 4, curb radar cell 5 and environment sensing photographic head 6.
Ultrasonic radar unit 2 includes front close-in target detection ultrasonic radar, is preferably provided with two；Vehicle right side
Vehicle detection ultrasonic radar in track, preferably side arrange four, rear close-in target detection ultrasonic radar, preferably set
Put two；In vehicle left side track, vehicle detection ultrasonic radar, preferably side arrange four；Ultrasonic radar unit 2 exports
Detectable signal is to ultrasonic radar controller 3, and described ultrasonic radar controller 3 is by CAN with master control unit 1 even
Connect.
Millimetre-wave radar unit 4 includes the crashproof millimetre-wave radar in front, left and right objects ahead detection millimetre-wave radar；Left and right
Rear area target detection millimetre-wave radar, master control unit 1 connects millimetre-wave radar unit 4 through CAN.
The crashproof millimetre-wave radar in front is for detection forward and the relative distance of static target, speed and side in real time
Parallactic angle degree, determines whether that whether dangerous vehicle keep straight on and degree of danger, and whether gathers early warning or brake regulation.
The left and right survey in front radar detects the motion in vehicle left front and region, right front or static mesh in real time
Target relative distance, speed and orientation angles, it is judged that if front is it may happen that in the case of risk of collision, if can pass through
Turn to towards adjacent lane lane change.Under the cooperation of rear view of vehicle left and right sides rear looking radar, realize safe lane change simultaneously.
Rear view of vehicle left and right sides rear looking radar is used for detecting vehicle dead astern, whether left and right sides adjacent lane rear area has
Close to vehicle, assist the vehicle safety lane change of this car, blind area risk object identification early warning and opening door of vehicle safe early warning.
Environment sensing photographic head 6 identifies the type of target, the degree of danger to target further for coordinating front radar
Judge further, provide foundation to urgent collision avoidance.The information fusion of radar and vision can be effectively improved front environment sense
The accuracy known and effectiveness.
Ultrasonic radar is for detecting the target in left and right vehicle wheel front and dead ahead 5 meters and the relative distance of Ben Che, more
Mend the deficiency that front radar proximity detection precision is on the low side.Improve the precision of distance measurement.
Ultrasonic radar, for detecting the target in left and right vehicle wheel adjacent lane and relative distance thereof, is used for detecting adjacent car
Vehicle condition in road.
Ultrasonic radar is used for detecting the target in left and right vehicle wheel side adjacent lane rear area and 5 meters of region, dead astern,
Make up the deficiency that back radars proximity detection precision is on the low side, improve distance measurement precision.
Ultrasonic radar controller 3 is for gathering 12 ultrasonic radar input signals and by being calculated target and thunder
The relative distance reached.And the position of target relative vehicle is calculated by the relation between installation site and the vehicle axis system of radar
Confidence ceases.
The every side of vehicle is equipped with two groups of curb radar cells 5, and one group is positioned at headstock, and another group is positioned at the tailstock, is arranged on
Two, can avoid barrier to interfere detection curb detection (such as wire column), and curb radar cell 5 exports and closely hinders
Hindering thing signal to master control unit 1, two groups of curb radar cells 5 of homonymy are arranged the most identical, additionally, often group curb radar list
Unit 5 includes the radar sensor that two top-bottom layout are fixing, and the radar sensor often organizing curb radar cell 5 is smaller than
5cm, fixing is that two groups of curb radar cells 5 of homonymy radar sensor above is arranged the most identical, and homonymy Liang Zu road
The radar sensor being positioned at lower section along radar cell 5 is arranged the most identical.Logical two sensors, individual can measure outlet accurately
Along the distance with vehicle, facilitate driver's lateral parking.
In order to improve the performance that Vehicular intelligent controls, master control unit 1 output signal to alarm unit in car and
Display unit, master control unit 1 outputs control signals to car door lock control unit and vehicle actively brak control unit simultaneously,
Vehicle can be carried out actively control and warning.
Control method based on above-mentioned vehicle-periphery sensory perceptual system:
After vehicle launch, system electrification self-inspection；
The signal of master control unit 1 real-time reception ultrasonic radar unit 2, and by front and back and the obstacle distance of both sides
Information shows on the display unit, if obstacle distance is less than the spacing alarm threshold value set, is then reported to the police by alarm unit.Logical
Cross this to control, it is possible to allow driver understand the spacing between vehicle and peripheral obstacle in real time, it is to avoid grazing.
The signal of master control unit 1 real-time reception millimetre-wave radar unit 4, if current vehicle speed (is avoided stopping more than 20km/s
The intervention intervention of actively braking during car, impact is stopped), and the millimetre-wave radar being positioned at right ahead senses preceding object thing
Relative velocity, distance values all reach default active braking threshold, then actively vehicle is carried out actively by brak control unit
Braking.
The signal of master control unit 1 real-time reception millimetre-wave radar unit 4, if vehicle remains static, and is positioned at car
The millimetre-wave radar of both sides, front or both sides, rear sense there is the relative velocity of barrier, distance, orientation angles all reach
To the enabling anti-collision warning value preset, then control car door lock control unit only locking and there is the car door of barrier side, and at barrier
Hinder thing to control car door lock control unit after leaving the millimetre-wave radar unit 4 detection range setting time and release car door lockup state,
Unlock after i.e. postponing a period of time, allow it may happen that the barrier of grazing has time enough to pass through vehicle.
The signal of master control unit 1 real-time reception curb radar cell 5, described curb radar cell 5 sets investigative range
For 1.5m, if vehicle current vehicle speed is less than 20km/s, and two groups of curb radar cells 5 of homonymy are all detected with barrier, then
Showing the detection range often organizing curb radar cell 5 on the display unit, the detection range limiting curb radar cell 5 can allow
It only detects curb, it is to avoid driver is interfered by other barriers, and for the detection of curb, normally only when stopping
Need, therefore start when speed is less than 20km/s, because detection range is limited, if the two of homonymy groups of curb radar cells 5 are equal
Be detected with barrier, then there is curb or barrier (other vehicles, wall, guardrail etc.) in vehicle side, by before and after display two
The detection range of group curb radar cell 5, can allow driver recognize whether vehicle is ajusted.
If curb radar cell 5 is less than preset value with two radar sensors of group, the difference of the distance of detection, then shows
Detection range is the distance of less radar sensor detection；Between preset value can be with two radar sensors of group
Away from, if the difference with two radar sensors of group is less or identical, then illustrate that the height of barrier is near or above curb radar
The position of unit 5, therefore shows the distance that a less radar sensor detects, it is possible to react vehicle the most accurately
Relative spacing with barrier.
If curb radar cell 5 is more than or equal to preset value with two radar sensors of group, the difference of the distance of detection, then shows
The detection range shown is s；
The radar sensor distance obstacle distance above with group curb radar cell 5 is H1, is positioned at the thunder of lower section
Reaching sensor distance obstacle distance is H2, and the spacing of two radar sensors is H3, utilizes H1, H2 and H3 to calculate H1 (place
Limit) and the angle α of H3 (limit, place), then s=H1*sin α.
Above in conjunction with accompanying drawing, this utility model is exemplarily described, it is clear that this utility model implements and is not subject to
The restriction of aforesaid way, as long as have employed changing of the various unsubstantialities that method of the present utility model is conceived and technical scheme is carried out
Enter, or the most improved design of the present utility model and technical scheme are directly applied to other occasion, all at this utility model
Protection domain within.
Claims (5)
1. vehicle-periphery sensory perceptual system, it is characterised in that: system is provided with master control unit, and the output of ultrasonic radar unit is visited
Survey signal to be connected with master control unit to ultrasonic radar controller, described ultrasonic radar controller by CAN, millimeter
The target information of detection is sent to described master control unit by ripple radar cell by CAN；
Described ultrasonic radar unit includes being arranged on the super of obstacle distance information before and after vehicle front and rear collection vehicle
Sound radar, and it is arranged on the ultrasonic radar of collection vehicle left and right, vehicle both sides obstacle distance information；
It is relative with right front barrier that described millimetre-wave radar unit includes being arranged on collection vehicle left front, vehicle front both sides
Distance, speed and the millimetre-wave radar of orientation angles, be arranged on collection vehicle left back, rear view of vehicle both sides and right back obstacle
The millimetre-wave radar of thing relative distance, speed and orientation angles, and it is arranged on vehicle front collection vehicle preceding object thing phase
Adjust the distance and the millimetre-wave radar of speed.
Vehicle-periphery sensory perceptual system the most according to claim 1, it is characterised in that: the every side of vehicle is equipped with Liang Zu road
Along radar cell, and one group is positioned at headstock, and another group is positioned at the tailstock, and described curb radar cell exports closely obstacle signal
To master control unit, often organize the radar sensor that described curb radar cell includes that two top-bottom layout are fixing, and often organize curb
The radar sensor of radar cell is smaller than 5cm.
Vehicle-periphery sensory perceptual system the most according to claim 1 and 2, it is characterised in that: described master control unit warp
CAN JA(junction ambient) perception photographic head, described environment sensing photographic head is anterior in being arranged on car, and collection vehicle forward image is believed
Breath.
Vehicle-periphery sensory perceptual system the most according to claim 3, it is characterised in that: described master control unit output letter
Number to luminous environment atmosphere lamp in alarm unit, display unit or the car in car.
Vehicle-periphery sensory perceptual system the most according to claim 4, it is characterised in that: the output control of described master control unit
Signal processed is to car door lock control unit and vehicle actively brak control unit.
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| CN201620830437.2U CN205836663U (en) | 2016-08-03 | 2016-08-03 | Vehicle-periphery sensory perceptual system |
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| CN201620830437.2U CN205836663U (en) | 2016-08-03 | 2016-08-03 | Vehicle-periphery sensory perceptual system |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106004659A (en) * | 2016-08-03 | 2016-10-12 | 安徽工程大学 | Surrounding environment perception system for vehicles and control method of surrounding environment perception system |
| CN106909152A (en) * | 2017-03-17 | 2017-06-30 | 奇瑞汽车股份有限公司 | A kind of automobile-used context aware systems and automobile |
| CN107054209A (en) * | 2017-05-02 | 2017-08-18 | 辽宁工业大学 | The invisible multi-functional prompt system of road conditions and early warning and reminding method of overtaking other vehicles in front of front truck |
| CN107458361A (en) * | 2017-08-10 | 2017-12-12 | 南京超靖界智能科技有限公司 | Vehicle safety accessory system and its control method |
| CN107585222A (en) * | 2017-10-18 | 2018-01-16 | 长沙冰眼电子科技有限公司 | Unmanned scout car |
| CN107792076A (en) * | 2017-09-25 | 2018-03-13 | 南京律智诚专利技术开发有限公司 | A kind of method of work of the vehicle automatic running system of achievable identification thing analysis |
| CN108638966A (en) * | 2018-06-11 | 2018-10-12 | 南宁学院 | A kind of automobile assistant driving system and auxiliary driving method based on blind area monitoring |
| CN108859955A (en) * | 2018-07-15 | 2018-11-23 | 合肥市智信汽车科技有限公司 | A kind of vehicle collision prewarning system |
| CN110134127A (en) * | 2019-05-19 | 2019-08-16 | 上海方堰实业有限公司 | A kind of integral new-energy passenger intelligent pedestrian avoidance system |
| CN110641367A (en) * | 2019-10-31 | 2020-01-03 | 东风汽车股份有限公司 | Environment sensing system arrangement structure for automatic driving |
| CN110799853A (en) * | 2018-10-26 | 2020-02-14 | 深圳市大疆创新科技有限公司 | Environment sensing system and mobile platform |
| CN112835051A (en) * | 2021-01-12 | 2021-05-25 | 广州主塔智能科技有限公司 | Vehicle-mounted radar warning system |
| CN112977433A (en) * | 2021-03-26 | 2021-06-18 | 广州领世汽车科技有限公司 | Automobile central control system |
| CN116201422A (en) * | 2023-03-24 | 2023-06-02 | 重庆长安汽车股份有限公司 | Door and window control method, system, electronic equipment and storage medium |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106004659A (en) * | 2016-08-03 | 2016-10-12 | 安徽工程大学 | Surrounding environment perception system for vehicles and control method of surrounding environment perception system |
| CN106004659B (en) * | 2016-08-03 | 2017-08-04 | 安徽工程大学 | Vehicle-periphery sensory perceptual system and its control method |
| CN106909152A (en) * | 2017-03-17 | 2017-06-30 | 奇瑞汽车股份有限公司 | A kind of automobile-used context aware systems and automobile |
| CN106909152B (en) * | 2017-03-17 | 2020-09-04 | 奇瑞汽车股份有限公司 | Automobile-used environmental perception system and car |
| CN107054209A (en) * | 2017-05-02 | 2017-08-18 | 辽宁工业大学 | The invisible multi-functional prompt system of road conditions and early warning and reminding method of overtaking other vehicles in front of front truck |
| CN107458361B (en) * | 2017-08-10 | 2020-04-17 | 南京超靖界智能科技有限公司 | Vehicle safety auxiliary system and control method thereof |
| CN107458361A (en) * | 2017-08-10 | 2017-12-12 | 南京超靖界智能科技有限公司 | Vehicle safety accessory system and its control method |
| CN107792076A (en) * | 2017-09-25 | 2018-03-13 | 南京律智诚专利技术开发有限公司 | A kind of method of work of the vehicle automatic running system of achievable identification thing analysis |
| CN107585222A (en) * | 2017-10-18 | 2018-01-16 | 长沙冰眼电子科技有限公司 | Unmanned scout car |
| CN108638966A (en) * | 2018-06-11 | 2018-10-12 | 南宁学院 | A kind of automobile assistant driving system and auxiliary driving method based on blind area monitoring |
| CN108859955A (en) * | 2018-07-15 | 2018-11-23 | 合肥市智信汽车科技有限公司 | A kind of vehicle collision prewarning system |
| CN110799853A (en) * | 2018-10-26 | 2020-02-14 | 深圳市大疆创新科技有限公司 | Environment sensing system and mobile platform |
| CN110799853B (en) * | 2018-10-26 | 2024-04-30 | 深圳市大疆创新科技有限公司 | Environment sensing system and mobile platform |
| WO2020082363A1 (en) * | 2018-10-26 | 2020-04-30 | 深圳市大疆创新科技有限公司 | Environment sensing system and mobile platform |
| US12013464B2 (en) | 2018-10-26 | 2024-06-18 | SZ DJI Technology Co., Ltd. | Environment sensing system and movable platform |
| CN110134127A (en) * | 2019-05-19 | 2019-08-16 | 上海方堰实业有限公司 | A kind of integral new-energy passenger intelligent pedestrian avoidance system |
| CN110641367A (en) * | 2019-10-31 | 2020-01-03 | 东风汽车股份有限公司 | Environment sensing system arrangement structure for automatic driving |
| CN112835051A (en) * | 2021-01-12 | 2021-05-25 | 广州主塔智能科技有限公司 | Vehicle-mounted radar warning system |
| CN112977433A (en) * | 2021-03-26 | 2021-06-18 | 广州领世汽车科技有限公司 | Automobile central control system |
| CN116201422A (en) * | 2023-03-24 | 2023-06-02 | 重庆长安汽车股份有限公司 | Door and window control method, system, electronic equipment and storage medium |
| CN116201422B (en) * | 2023-03-24 | 2024-05-14 | 重庆长安汽车股份有限公司 | Door and window control method, system, electronic equipment and storage medium |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161228 Termination date: 20170803 |
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| CF01 | Termination of patent right due to non-payment of annual fee |