CN205880211U - On -vehicle anti -collision early warning device - Google Patents
On -vehicle anti -collision early warning device Download PDFInfo
- Publication number
- CN205880211U CN205880211U CN201620845547.6U CN201620845547U CN205880211U CN 205880211 U CN205880211 U CN 205880211U CN 201620845547 U CN201620845547 U CN 201620845547U CN 205880211 U CN205880211 U CN 205880211U
- Authority
- CN
- China
- Prior art keywords
- warning device
- vehicle anti
- mounting box
- photographic head
- collision prior
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The utility model discloses an on -vehicle anti -collision early warning device, include: the radar board in the mounting box is located to the mounting box, on -vehicle anti -collision early warning device still includes: camera, and controlling means, the camera rotates with the mounting box to be connected, radar board, camera are connected with the controlling means electricity. The utility model discloses an install the contained angle of camera detection of a target vehicle and travel direction on the mounting box, then the purpose of the angle value calibration radar board measurement angle degree through camera accurate detection. The utility model relates to a rationally, strong adaptability can widely popularize and be applied to in the market.
Description
Technical field
This utility model relates to a kind of senior auxiliary driving device, particularly relates to a kind of vehicle anti-collision prior-warning device.
Background technology
At present, automobile many uses vehicle-mounted millimeter wave radar, its long transmission distance, atmospheric attenuation and loss in transmission window
Low, penetrance is strong；Well compensate for such as infrared, laser, ultrasound wave, shooting other sensors first-class, institute in vehicular applications
The use scene not possessed.Radar surveying angle is determined by distance d and the actual difference measured of two reception antennas.And d by
Mismachining tolerance determines, the skew of antenna radiation pattern simultaneously will also result in the spacing of reality has certain deviation with design pitch d；Survey
The difference that amount arrives is determined by the self character of radar frequency mixer, there is certain deviation, thus result in radar phase between device
Position is measured and be there is error；It addition, vehicle anti-collision prior-warning device also can exist inevitable installation deviation when installing, cause phase place
There is deviation in measurement result.Therefore, in order to ensure the accuracy of the phase-detection of vehicle-mounted millimeter wave radar, it is necessary to vehicle anti-collision
Prior-warning device is calibrated.
Utility model content
In place of overcoming above-mentioned the deficiencies in the prior art, the purpose of this utility model is to provide a kind of vehicle anti-collision early warning
Device, calibrates the phase measurement of radar board by photographic head.
The technical solution of the utility model is:
A kind of vehicle anti-collision prior-warning device, including: mounting box, the radar board being located in mounting box, described vehicle anti-collision is pre-
Alarm device also includes: photographic head, and controls device；Described photographic head is rotationally connected with mounting box；Described radar board, photographic head with
Control device electrical connection.
Its further technical scheme is: described vehicle anti-collision prior-warning device also includes the shielding knot being positioned at below radar board
Structure；Described photographic head is located in mounting box and is positioned at the lower section of shielding construction.
Its further technical scheme is: the front end of described mounting box is provided with an installation position；Radar board is located in described installation position
Search coverage outside.
Its further technical scheme is: described vehicle anti-collision prior-warning device also includes fixing the rotating shaft being connected with photographic head；
Described mounting box is provided with the installing hole for installing rotating shaft.
Its further technical scheme is: described vehicle anti-collision prior-warning device also includes being fixed on the card adapter plate of mounting box；Institute
The periphery stating rotating shaft is provided with some buckling grooves；The end of described card adapter plate is provided with and the Access Division of buckling groove phase clamping.
Its further technical scheme is: described radar board is provided with the receiving terminal at two intervals.
The calibration steps of a kind of vehicle anti-collision prior-warning device, it is characterised in that include following:
A. phase only pupil filter initial parameter values ω is set0=0.00 degree；
B. photographic head detection objects ahead vehicle and the angle theta of travel directionn, enter F；
C. the phase contrast δ of two receiving terminals measured by radar board, enters D；
D. phase contrast δ is revisedn=ωn+ δ, enters E；
E. the angle β of objects ahead vehicle and radar board normal direction is calculatedn=arcsin{ (δnλ)/(2 π d) }, institute
Stating λ is the wavelength that radar wave launched by radar board, and described d is the distance between two receiving terminal of radar board, enters F；
F. θ is comparedn-βnValue Δ σn；
If G. Δ σ >=0.05 degree, return step B, C, wherein, n=n+1, ω the most simultaneouslyn=ωn+Δω；
If H. Δ σ-0.05 degree, return step B, C, wherein, n=n+1, ω the most simultaneouslyn=ωn+ Δ ω, Δ ω take negative
Value；
If I.-0.05 < Δ σ <+0.05 degree, terminates.
Its further technical scheme is: described B includes:
B1. photographic head detects and judges that road surface turning diameter is more than 1000m；
B2., in photographic head detection vehicle travel direction left-right deviation 15 degree, have and only one of which in 20 meters～50 meters
Target vehicle；
B3. the angle, θ of target vehicle and travel direction is calculated by image algorithm.
Its further technical scheme is: also include before described C: C1. detects vehicle travel speed by radar board
More than 30km/h；When described G, H step is carried out, it is back to C1.
Its further technical scheme is: described Δ ω=0.01 degree.
This utility model compared with prior art have the technical effect that a kind of vehicle anti-collision prior-warning device, by being installed on
Photographic head detection target vehicle on mounting box and the angle of travel direction, then pass through the angle value school of photographic head accurately detecting
The purpose of angle measured by quasi-radar board.
Further, the lower section of radar board is provided with screening arrangement, by screening arrangement reduce radar wave and interior equipment it
Between interfere, and photographic head is arranged on the lower section of screening arrangement, and between photographic head and radar board, detection is independent of each other.
Further, radar board is provided with a rotating shaft, is regulated the angle of radar board by rotating shaft, and passes through card adapter plate
Carry out clamping rotating shaft, thus ensure that the position of radar board is fixed.
Further, the afterbody of photographic head is provided with a rotating shaft, is regulated the angle of photographic head by rotating shaft, and passes through
Card adapter plate carrys out clamping rotating shaft, thus ensures that the position of photographic head is fixed.
With specific embodiment, this utility model is further described below in conjunction with the accompanying drawings.
Accompanying drawing explanation
Fig. 1 is the three-dimensional view of this utility model a kind of vehicle anti-collision prior-warning device specific embodiment.
Fig. 2 is the decomposition view of Fig. 1 embodiment.
Fig. 3 is the cross sectional view of this utility model a kind of vehicle anti-collision prior-warning device the second embodiment.
Fig. 4 is the flow chart of the calibration steps of a kind of vehicle anti-collision prior-warning device.
Reference
10 vehicle anti-collision prior-warning device 1 mounting boxs
11 installation position 12 installing holes
13 inclined-plane 14 adsorption structures
15 angle regulators 16 are protruding
2 radar board 3 shielding constructions
4 photographic head 41 globular parts
5 rotating shaft 51 buckling grooves
6 card adapter plate 61 Access Divisions
Detailed description of the invention
In order to more fully understand technology contents of the present utility model, below in conjunction with schematic diagram to technical side of the present utility model
Case is further described and illustrates, but is not limited to this.
As shown in Figure 1, 2, a kind of vehicle anti-collision prior-warning device 10, including: mounting box 1, the radar board being located in mounting box 1
2, it is positioned at the shielding construction 3 below radar board 2, photographic head 4 and controls device (not shown).Radar board 2, photographic head 4 with
Mounting box 1 is rotationally connected, and radar board 2, photographic head 4 electrically connect with controlling device (not shown).
The front end of mounting box 1 is provided with an installation position 11, and installation position 11 is located at outside the search coverage of radar board 2.Installation position
11 is the mounting groove being arranged on mounting box 1 front end, and photographic head 4 is arranged in mounting box 1, and its afterbody is rotationally connected with mounting box 1,
It can rotate in mounting groove, and in the present embodiment, photographic head 4 is arranged on the lower section of shielding construction 3.
Vehicle anti-collision prior-warning device 10 also includes the rotating shaft 5 that be connected fixing with photographic head 4, and mounting box 1 is provided with for installing
The installing hole 12 of rotating shaft 5.Vehicle anti-collision prior-warning device 10 also includes the card adapter plate 6 being fixed on mounting box 1, and the periphery of rotating shaft 5 sets
Having some buckling grooves 51, the end of card adapter plate 6 is provided with and the Access Division 61 of buckling groove 51 phase clamping, both can manually stir
Photographic head 4 rotates, it is also possible to rotating shaft 5 regulates the angle of photographic head 4.
Radar board 2 is provided with the receiving terminal (not shown) at two intervals, is reflected by two receiving terminals receptions
Radar wave, if objects ahead vehicle and radar board 2 normal orientation have angle, then the signal of two receiving terminals can produce a phase
Potential difference, it is possible to use phase meter calculates the angle of target vehicle and radar board 2 normal orientation.
Mounting box 1 is provided with the inclined-plane 13 being positioned at front side, is positioned on front side of inclined-plane 13 and for fixing with shield glass
The adsorption structure 14 connected, for regulating the angle regulator 15 of radar board 2 angle, can be regulated by angle regulator
The angle of radar board 2, in order to the detection direction of radar board 2 is level.
Adsorption structure 14 is sucker or double faced adhesive tape or Double-face adhesive, and the inclined-plane 13 of mounting box 1 coordinates with vehicle glass, by inhaling
Attached structure 14 is fixing with shield glass to be connected.
Shielding construction 3 is positioned at the left and right sides, rear side and bottom side, and it includes that electromagnetic wave shielding and suction ripple layer (do not show in figure
Go out), electromagnetic wave shielding is the one layer of suction ripple layer being arranged on the upper and lower side of electromagnetic wave shielding.Shielding construction 3 is solid with mounting box 1
Fixed connection, it extends to mounting box 1 foremost.After mounting box 1 is fixing, shielding construction 3 is close to shield glass, outward
The electromagnetic wave on boundary cannot from the left and right sides, rear side and bottom side interference radar board 2, radar board 2 can only from front side launch and receive electricity
Magnetic wave, also can reduce front windshield by the interference signal that electromagnetic wave shielding eliminating is extraneous, absorbing material or suction ripple layer anti-
Penetrate the Electromagnetic Interference of radar, improve capacity of resisting disturbance, also ensure that the accuracy of final data simultaneously.Further, radar board 2
Produced electromagnetic wave also will not produce interference to the equipment in car.
As it is shown on figure 3, the afterbody of photographic head 4 is provided with a globular part 41, in mounting box 1, it is provided with a projection 16, protruding
16 are provided with the spherical cavity (not indicating in figure) for housing globular part 41, and globular part 41 is rotationally connected with protruding 16.
In other embodiments, vehicle anti-collision prior-warning device also includes an adjusting rod being rotationally connected with mounting box, and
One shackle member, the afterbody of photographic head and the periphery of adjusting rod are provided with intermeshing tooth-shape structure, and the periphery of adjusting rod is additionally provided with
Some blocked holes, the end of shackle member is provided with and the joint end of blocked hole phase clamping.
In other embodiments, the afterbody of photographic head is provided with a globular part, is provided with a projection in mounting box, and projection sets
Having the spherical cavity for housing globular part, globular part is rotationally connected with globular part.
As shown in Figure 4, the calibration steps of a kind of vehicle anti-collision prior-warning device, including following:
A. phase only pupil filter initial parameter values ω is set0=0.00 degree；
B. photographic head detection objects ahead vehicle and the angle theta of travel directionn, enter F；Wherein, B includes:
B1. photographic head detects and judges that road surface turning diameter is more than 1000m；
B2., in photographic head detection vehicle travel direction left-right deviation 15 degree, have and only one of which in 20 meters～50 meters
Target vehicle；Step A1, A2 selected target vehicle are easy for timing below, and photographic head can persistently be selected same with reference to mesh
Mark；
B3. the angle, θ of target vehicle and travel direction is calculated by image algorithm；
C1. by radar board detection vehicle travel speed more than 30km/h；
C. the phase contrast δ of two receiving terminals measured by radar board, enters D；
D. phase contrast δ is revisedn=ωn+ δ, enters E；
E. the angle β of objects ahead vehicle and radar board normal direction is calculatedn=arcsin{ (δnλ)/(2 π d) }, institute
Stating λ is the wavelength that radar wave launched by radar board, and described d is the distance between two receiving terminal of radar board, enters F；
F. θ is comparedn-βnValue Δ σn；
If G. Δ σ >=0.05 degree, return step B, C1, wherein, n=n+1, ω the most simultaneouslyn=ωn+Δω；
If H. Δ σ-0.05 degree, return step B, C1, wherein, n=n+1, ω the most simultaneouslyn=ωn+ Δ ω, Δ ω take negative
Value；In this enforcement, n starts to calculate from 0.
If I.-0.05 < Δ σ <+0.05 degree, stores ωnValue after terminate；By controlling device storage ωnValue, in order to
Directly use when starting next time.
This utility model has merged photographic head computer vision and the round-the-clock Detection Techniques of millimetre-wave radar, has complementary advantages,
The round-the-clock anti-collision early warning in driving conditions can be completed.And simply pacify in achieving the integrated car of photographic head and millimetre-wave radar
Assembling structure.Automatically calibrated the radar detection vehicle produced because of reasons such as simple installation deviation by photographic head computer vision simultaneously
Azimuthal error problem.
Above-mentioned only further illustrate technology contents of the present utility model with embodiment, in order to reader is easier to understand,
But not representing embodiment of the present utility model and be only limitted to this, any technology done according to this utility model extends or recreation,
All by protection of the present utility model.Protection domain of the present utility model is as the criterion with claims.
Claims (8)
1. a vehicle anti-collision prior-warning device, including: mounting box, the radar board being located in mounting box, it is characterised in that described car
Carry anti-collision prewarning apparatus also to include: photographic head, and control device；Described photographic head is rotationally connected with mounting box；Described radar board,
Photographic head electrically connects with controlling device.
Vehicle anti-collision prior-warning device the most according to claim 1, it is characterised in that described vehicle anti-collision prior-warning device also wraps
Include the shielding construction being positioned at below radar board；Described photographic head is located in mounting box and is positioned at the lower section of shielding construction.
Vehicle anti-collision prior-warning device the most according to claim 1, it is characterised in that the front end of described mounting box is provided with a peace
Dress position；Described installation position is located at outside the search coverage of radar board.
Vehicle anti-collision prior-warning device the most according to claim 1, it is characterised in that described vehicle anti-collision prior-warning device also wraps
Include and fix the rotating shaft being connected with photographic head；Described mounting box is provided with the installing hole for installing rotating shaft.
Vehicle anti-collision prior-warning device the most according to claim 4, it is characterised in that described vehicle anti-collision prior-warning device also wraps
Include the card adapter plate being fixed on mounting box；The periphery of described rotating shaft is provided with some buckling grooves；The end of described card adapter plate is provided with and card
The Access Division of access slot phase clamping.
Vehicle anti-collision prior-warning device the most according to claim 1, it is characterised in that described vehicle anti-collision prior-warning device also wraps
Include an adjusting rod being rotationally connected with mounting box, and a shackle member；The afterbody of described photographic head and the periphery of adjusting rod are provided with
Intermeshing tooth-shape structure；The periphery of described adjusting rod is additionally provided with some blocked holes；The end of described shackle member is provided with and card
Connect the joint end of hole phase clamping.
Vehicle anti-collision prior-warning device the most according to claim 1, it is characterised in that described radar board is provided with two intervals
Receiving terminal.
Vehicle anti-collision prior-warning device the most according to claim 1, it is characterised in that the afterbody of described photographic head is provided with one
Globular part；One it is provided with protruding in described mounting box；Described projection is provided with the spherical cavity for housing globular part；Described spherical
Portion is rotationally connected with described projection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620845547.6U CN205880211U (en) | 2016-08-04 | 2016-08-04 | On -vehicle anti -collision early warning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620845547.6U CN205880211U (en) | 2016-08-04 | 2016-08-04 | On -vehicle anti -collision early warning device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205880211U true CN205880211U (en) | 2017-01-11 |
Family
ID=57700709
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620845547.6U Active CN205880211U (en) | 2016-08-04 | 2016-08-04 | On -vehicle anti -collision early warning device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205880211U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106199603A (en) * | 2016-08-04 | 2016-12-07 | 深圳卓影科技有限公司 | A kind of vehicle anti-collision prior-warning device and calibration steps thereof |
-
2016
- 2016-08-04 CN CN201620845547.6U patent/CN205880211U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106199603A (en) * | 2016-08-04 | 2016-12-07 | 深圳卓影科技有限公司 | A kind of vehicle anti-collision prior-warning device and calibration steps thereof |
| CN106199603B (en) * | 2016-08-04 | 2018-12-07 | 深圳卓影科技有限公司 | A kind of vehicle anti-collision prior-warning device and its calibration method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106199603A (en) | A kind of vehicle anti-collision prior-warning device and calibration steps thereof | |
| US20200174115A1 (en) | Systems and methods for detecting objects | |
| US9229104B2 (en) | Sensor assembly for driver assistance systems in motor vehicles | |
| EP3264036B1 (en) | System for and method of determining angular position of a vehicle | |
| KR20210048548A (en) | How to detect an angle measurement error in a radar sensor | |
| US6452542B1 (en) | Integrated flight management system | |
| US7417583B2 (en) | Methods and apparatus for providing target altitude estimation in a two dimensional radar system | |
| CN106184786A (en) | A kind of automatic landing system of unmanned plane and method | |
| CN208149311U (en) | A kind of context aware systems for automatic Pilot passenger car | |
| US7409292B2 (en) | Method and system for degimbalization of vehicle navigation data | |
| JP2009509852A (en) | Airflow pressure gradient measurement parameter monitoring system for aircraft | |
| EP3301456B1 (en) | Mounting a laser transceiver to an aircraft | |
| CN109747530A (en) | A kind of dual camera and millimeter wave merge automobile sensory perceptual system | |
| CN102224078A (en) | System for guiding a drone during the approach phase to a platform, in particular a naval platform, with a view to landing same | |
| US8315748B2 (en) | Altitude measurement apparatus and method | |
| CN109425852A (en) | The scaling method of automobile and trailer-mounted radar, device | |
| CN107390207A (en) | Moving body | |
| CN110352358B (en) | Characterizing antenna patterns | |
| EP3497485B1 (en) | Sensor system with an attachment element for a manned or unmanned aircraft | |
| CN205880211U (en) | On -vehicle anti -collision early warning device | |
| CN106405535B (en) | Train speed detection device and train speed detection method | |
| EP0968440B1 (en) | System for accurately determining missile vertical velocity and altitude | |
| US8890747B2 (en) | Longitudinal and lateral velocity estimation using single antenna GPS and magnetic compass | |
| US20170102704A1 (en) | Automated Vehicle Object Detection Device With Level Detection | |
| CN110007318A (en) | Single unmanned plane based on Kalman filtering judges the method for GPS deception under wind field interference |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant |