CN210101616U - Anti-collision system and vehicle - Google Patents
Anti-collision system and vehicle Download PDFInfo
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- CN210101616U CN210101616U CN201920931869.6U CN201920931869U CN210101616U CN 210101616 U CN210101616 U CN 210101616U CN 201920931869 U CN201920931869 U CN 201920931869U CN 210101616 U CN210101616 U CN 210101616U
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Abstract
The application relates to the technical field of unmanned driving, in particular to an anti-collision system and a vehicle. The anti-collision system provided by the application comprises at least 4 ultrasonic radars, a sensor and a control device, wherein the sensor is electrically connected with the control device and used for acquiring the driving parameters of a vehicle; at least 4 ultrasonic radar respectively with controlling means communication connection, set up respectively in the front end of vehicle body, rear end and both sides, ultrasonic radar includes long distance ultrasonic radar and short distance ultrasonic radar, like this, detects vehicle body barrier all around through mutually supporting long distance ultrasonic radar and short distance ultrasonic radar, can accurately detect the barrier around the automobile body, can further promote the security of vehicle at the in-process of traveling.
Description
Technical Field
The application relates to the technical field of unmanned driving, in particular to an anti-collision system and a vehicle.
Background
The unmanned vehicle is an intelligent vehicle which senses road environment through a sensor and a radar, automatically plans a driving route and controls the vehicle to reach a preset target by using sensed road, vehicle position and obstacle information, and can automatically control the steering and speed of the vehicle, so that the vehicle can safely and reliably run on the road.
The existing unmanned vehicle based on the L4 level automatic driving (High Automation) has the following defects and shortcomings: the sensing detection range is small, blind areas exist around the vehicle body, and the vehicle cannot accurately detect all obstacles around the vehicle body, so that the safety of the vehicle in the automatic driving process is poor.
SUMMERY OF THE UTILITY MODEL
In view of this, an object of the embodiments of the present application is to provide an anti-collision system and a vehicle, which can accurately detect an obstacle around a vehicle body, and further improve the safety of the vehicle in the driving process.
The application mainly comprises the following aspects:
in a first aspect, embodiments of the present application provide a collision avoidance system, which includes at least 4 ultrasonic radars, sensors, and a control device;
the 4 ultrasonic radars are respectively in communication connection with the control device, are respectively arranged at the front end, the rear end and two sides of the vehicle body and are used for detecting obstacles around the vehicle body, and each ultrasonic radar comprises a long-distance ultrasonic radar and a short-distance ultrasonic radar;
the sensor is electrically connected with the control device and used for acquiring the driving parameters of the vehicle;
the control device is respectively in communication connection with the ultrasonic radar and is electrically connected with the sensor.
In one possible embodiment, the collision avoidance system further comprises a braking device;
the braking device is electrically connected with the control device and is an electronic hydraulic brake.
In one possible embodiment, at least 3 long-range ultrasonic radars and at least 2 short-range ultrasonic radars are provided at the front end of the vehicle body;
wherein 1 of the long-range ultrasonic radars of the front end of the vehicle body is disposed at the center of the front end of the vehicle body;
the 2 short-distance ultrasonic radars at the front end of the vehicle body are symmetrically arranged along a first central axis of the vehicle body;
2 of the front end of vehicle body long distance ultrasonic radar symmetry sets up the junction of front end and both sides of vehicle body.
In one possible embodiment, at least 4 long-range ultrasonic radars and at least 2 short-range ultrasonic radars are provided at the front end of the vehicle body;
the 2 long-distance ultrasonic radars at the front end of the vehicle body are symmetrically arranged along a first central axis of the vehicle body;
the 2 short-distance ultrasonic radars at the front end of the vehicle body are symmetrically arranged on two sides, far away from the first central axis, of the 2 long-distance ultrasonic radars at the front end of the vehicle body;
2 of the front end of vehicle body long distance ultrasonic radar symmetry sets up the junction of front end and both sides of vehicle body.
In a possible embodiment, at least 2 short-distance ultrasonic radars are respectively arranged on two sides of the vehicle body, and the 2 short-distance ultrasonic radars on one side of the vehicle body are symmetrically arranged along the second central axis of the vehicle body.
In one possible embodiment, at least 3 long-range ultrasonic radars are provided at the rear end of the vehicle body;
wherein 1 of the long-range ultrasonic radars at the rear end of the vehicle body is disposed at the center of the rear end of the vehicle body;
2 of the rear end of vehicle body long distance ultrasonic radar sets up the intersection of the rear end of vehicle body and both sides.
In one possible embodiment, at least 4 long-range ultrasonic radars are provided at the rear end of the vehicle body;
the 2 long-distance ultrasonic radars at the rear end of the vehicle body are symmetrically arranged along a first central axis of the vehicle body;
2 of the rear end of vehicle body long distance ultrasonic radar symmetry set up in the intersection of the rear end of vehicle body and both sides.
In one possible embodiment, the ultrasonic radar is arranged such that the vehicle body is located at an equal height from the ground.
In one possible embodiment, the sensors include a gear position sensor, a speed sensor, a rotation angle sensor, and a temperature sensor;
the gear sensor is electrically connected with the control device, arranged on a transmission of the vehicle and used for acquiring gear information of the vehicle;
the speed sensor is electrically connected with the control device, is arranged on a wheel axle of a rear wheel of the vehicle and is used for acquiring the running speed of the vehicle;
the steering angle sensor is electrically connected with the control device, is arranged on a steering column of a steering wheel of the vehicle, and is used for acquiring the rotation angle of the steering wheel of the vehicle;
the temperature sensor is electrically connected with the control device, arranged on the vehicle body and used for collecting the ambient temperature.
In a second aspect, embodiments of the present application further provide a vehicle including the collision avoidance system according to the first aspect.
In the embodiment of the application, the provided anti-collision system comprises at least 4 ultrasonic radars, a sensor and a control device, wherein the sensor is electrically connected with the control device and used for acquiring the driving parameters of a vehicle; at least 4 ultrasonic radar respectively with controlling means communication connection, set up respectively in the front end of vehicle body, rear end and both sides, ultrasonic radar includes long distance ultrasonic radar and short distance ultrasonic radar, like this, detects vehicle body barrier all around through mutually supporting long distance ultrasonic radar and short distance ultrasonic radar, can accurately detect the barrier around the automobile body, can further promote the security of vehicle at the in-process of traveling.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 illustrates one of the schematic structural diagrams of a collision avoidance system provided in the embodiments of the present application;
fig. 2 illustrates a second schematic structural diagram of a collision avoidance system according to an embodiment of the present application;
FIG. 3 illustrates a top view of an ultrasonic radar location profile provided by an embodiment of the present application;
fig. 4 is a top view of another ultrasonic radar location profile provided by an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the application usually place when in use, and are used only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the devices or elements being referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present application, it is further noted that, unless expressly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
To enable those skilled in the art to utilize the present disclosure, the following embodiments are presented in conjunction with a specific application scenario, "unmanned vehicle," which is intended to enable those skilled in the art to apply the general principles defined herein to other embodiments and application scenarios without departing from the spirit and scope of the present disclosure.
It is worth noting that prior solutions based on level L4 autonomous unmanned vehicles have the following disadvantages and shortcomings before the present application is proposed: the sensing detection range is small, blind areas exist around the vehicle body, and the vehicle cannot accurately detect all obstacles around the vehicle body, so that the safety of the vehicle in the automatic driving process is poor.
In view of the above problems, the anti-collision system provided in the embodiment of the present application includes at least 4 ultrasonic radars, a sensor and a control device, where the sensor is electrically connected to the control device and is used to acquire a driving parameter of a vehicle; at least 4 ultrasonic radar respectively with controlling means communication connection, set up respectively in the front end of vehicle body, rear end and both sides, ultrasonic radar includes long distance ultrasonic radar and short distance ultrasonic radar, like this, detects vehicle body barrier all around through mutually supporting long distance ultrasonic radar and short distance ultrasonic radar, can accurately detect the barrier around the automobile body, can further promote the security of vehicle at the in-process of traveling.
For the convenience of understanding of the present application, the technical solutions provided in the present application will be described in detail below with reference to specific embodiments.
Example one
Referring to fig. 1 and fig. 2, fig. 1 is a schematic structural diagram of a collision avoidance system according to an embodiment of the present disclosure, and fig. 2 is a schematic structural diagram of a collision avoidance system according to an embodiment of the present disclosure. As shown in fig. 1 and 2, the collision avoidance system 10 according to the embodiment of the present application includes an ultrasonic radar 100, a sensor 200, and a control device 300.
The number of the ultrasonic radars 100 is at least 4, and the ultrasonic radars are respectively in communication connection with the control device 300, are respectively arranged at the front end, the rear end and the two sides of the vehicle body, and are used for detecting obstacles around the vehicle body, wherein the ultrasonic radars 100 comprise a long-distance ultrasonic radar 110 and a short-distance ultrasonic radar 120.
Fig. 1 shows only 1 of the ultrasonic radars 100, and the other ultrasonic radars 100 are not shown in fig. 4.
In the concrete implementation, set up 4 at least ultrasonic radar 100 on the vehicle body to guarantee that the front end, rear end and both sides of vehicle body all set up 1 at least ultrasonic radar 100, like this, all be provided with ultrasonic radar 100 on can guaranteeing the all directions of vehicle body, can detect the barrier in all directions all around the vehicle body.
Here, the ultrasonic radar 100 mounted on the vehicle is divided into two types, a long-distance ultrasonic radar 110 and a short-distance ultrasonic radar 120, wherein the lengths of ultrasonic waves emitted from the long-distance ultrasonic radar 110 and the short-distance ultrasonic radar 120 are different, and thus the range of detecting an obstacle is different, and the distance detected by the long-distance ultrasonic radar 110 is longer than that of the short-distance ultrasonic radar 120, but is more accurate for an obstacle close to the vehicle by the short-distance ultrasonic radar 120, so that the sensing detection range is large through the cooperation of the long-distance ultrasonic radar 110 and the short-distance ultrasonic radar 120, and a blind area does not exist around the vehicle body, so that the obstacle around the vehicle body can be accurately detected, and the safety of the vehicle in the driving process can be further improved.
It should be noted that the ultrasonic radar 100 communicates with the control device 300 through a Local interconnect network (LIN bus), and the control device 300 can acquire data detected by the ultrasonic radar 100 through the LIN bus.
The sensor 200 is electrically connected to the control device 300, and is configured to collect driving parameters of the vehicle.
In specific implementation, a plurality of sensors 200 are arranged on the vehicle body, the sensors 200 are sensors at the vehicle gauge level, the sensors 200 may include a gear sensor, a speed sensor, a corner sensor and a temperature sensor, and parameters acquired by different sensors 200 are different, wherein the gear sensor may acquire gear information of the vehicle, the speed sensor may acquire the driving speed of the vehicle, the corner sensor may acquire the rotation angle of the steering wheel of the vehicle, and the temperature sensor may acquire the ambient temperature.
Here, the running parameters may include a running speed of the vehicle, a rotation angle of a steering wheel of the vehicle, gear information of the vehicle, and an external environment temperature.
It should be noted that the sensor 200 communicates with the control device 300 through a Controller Area Network (CAN bus), and the control device 300 CAN acquire data collected by the sensor 200 through the CAN bus.
The control device 300 is in communication connection with the ultrasonic radar 100 and is electrically connected to the sensor 200.
In a specific implementation, the control device 300 communicates with the ultrasonic radar 100 through a LIN bus, the control device 300 may acquire data detected by the ultrasonic radar 100 through the LIN bus, the control device 300 communicates with the sensor 200 through a CAN bus, and the control device 300 may acquire data acquired by the sensor 200 through the CAN bus.
Here, the control device 300 is a controller in the related art, and the control device 300 may determine whether there is a risk of collision between the vehicle and the obstacle through the acquired data collected by the sensor 200, the data detected by the ultrasonic radar 100, and the existing anti-collision algorithm, and may control the vehicle to brake or avoid, etc. after determining that there is a risk, to avoid a collision accident.
In the embodiment of the present application, the anti-collision system 10 includes an ultrasonic radar 100, a sensor 200, and a control device 300, wherein the sensor 200 is electrically connected to the control device 300, and is configured to acquire a driving parameter of a vehicle; ultrasonic radar 100 respectively with controlling means 300 communication connection, set up respectively in the front end of vehicle body, rear end and both sides, ultrasonic radar 100 includes long distance ultrasonic radar 110 and short distance ultrasonic radar 120, like this, detects vehicle body barrier all around through mutually supporting long distance ultrasonic radar 110 and short distance ultrasonic radar 120, can accurately detect the barrier around the automobile body, can further promote the security of vehicle at the in-process of traveling.
Further, as shown in fig. 2, the collision avoidance system 10 further includes a braking device 400; the braking device 400 is electrically connected to the control device 300, and the braking device 400 is an electronic hydraulic brake.
In a specific implementation, the collision avoidance system 10 further includes a braking device 400, the braking device 400 is connected to the control device 300 through a hard wire, and the braking device 400 may perform braking according to a received braking command issued by the control device 300.
Further, referring to fig. 3 and fig. 4, fig. 3 is a top view of an ultrasonic radar location distribution provided in an embodiment of the present application, and fig. 4 is a top view of another ultrasonic radar location distribution provided in an embodiment of the present application.
As shown in fig. 3, the vehicle body 1 includes 4 wheels 150, and at least 3 long-distance ultrasonic radars 110 and at least 2 short-distance ultrasonic radars 120 are provided at the front end of the vehicle body 1; wherein 1 of the long-range ultrasonic radars 110 at the front end of the vehicle body 1 is provided at the center of the front end of the vehicle body 1; the 2 short-distance ultrasonic radars 120 at the front end of the vehicle body 1 are symmetrically arranged along a first central axis 130 of the vehicle body 1; the 2 long-distance ultrasonic radars 110 at the front end of the vehicle body 1 are symmetrically arranged at the intersection of the front end and both sides of the vehicle body 1.
In the concrete implementation, the ultrasonic radars installed on the vehicle are divided into two types, namely, a long-distance ultrasonic radar 110 and a short-distance ultrasonic radar 120, at least 3 long-distance ultrasonic radars 110 and at least 2 short-distance ultrasonic radars 120 can be arranged at the front end of the vehicle body 1, since the traveling direction of the vehicle is the most forward, several ultrasonic radars can be arranged at the front end of the vehicle body 1, and the long-distance ultrasonic radar 110 and the short-distance ultrasonic radars 120 are arranged, specifically, the long-distance ultrasonic radar 110 is arranged at the center of the front end of the vehicle body 1, the obstacle in the far area right in front of the vehicle can be detected through the long-distance ultrasonic radar 110, the fan-shaped angle of the detection range is small, the obstacle in the near area right in front of the vehicle can be detected by symmetrically arranging 2 short-distance ultrasonic radars 120 on the first central axis 130 of, detection range's fan-shaped angle is great, and set up 1 long distance ultrasonic radar 110 respectively at the front end of vehicle body 1 and the intersection of both sides, can guarantee to detect the regional barrier of vehicle left front side and right front side, and like this, cooperation through long distance ultrasonic radar 110 and short distance ultrasonic radar 120, it is big to perceive detection range, vehicle body 1 front end region all can be covered, vehicle body 1 front end region does not have the blind area, therefore can accurately detect vehicle body front end and surrounding barrier, can further promote the security of vehicle in the driving process.
At least 2 short-distance ultrasonic radars 120 are respectively arranged on two sides of the vehicle body 1, and 2 short-distance ultrasonic radars 120 on one side of the vehicle body 1 are symmetrically arranged along a second central axis 140 of the vehicle body 1.
In concrete implementation, because the distance that the barrier need be surveyed to vehicle both sides is shorter, therefore only need set up short ultrasonic radar 120 in the both sides of vehicle body 1 can, need not to set up long distance ultrasonic radar 110, for the region of guarantee vehicle body 1 both sides is all covered, can set up 2 short distance ultrasonic radar 120 respectively in both sides.
At least 3 long-range ultrasonic radars 110 are provided at the rear end of the vehicle body 1, wherein 1 long-range ultrasonic radar 110 at the rear end of the vehicle body 1 is provided at the center of the rear end of the vehicle body 1; the 2 long-distance ultrasonic radars 110 at the rear end of the vehicle body 1 are disposed at the intersection of the rear end and both sides of the vehicle body 1.
In concrete implementation, because when the vehicle is reversing, the ultrasonic radar of the rear end of the vehicle body 1 can be used for detecting the obstacles in the region of the rear end of the vehicle, so that the detection region cannot have a blind area, but the detection region is limited when the vehicle is reversing, so that the long ultrasonic radar 110 and the short-distance ultrasonic radar 120 are not matched and switched to detect, the ultrasonic radars 100 of the same type are only required to be arranged, the long-distance ultrasonic radar 110 is arranged for the application, the detectable distance is longer than that of the short-distance ultrasonic radar 120, and thus, the region of the rear end of the vehicle can be detected when the vehicle is reversing.
As shown in fig. 4, the vehicle body 1 includes 4 wheels 150, and at least 4 long-distance ultrasonic radars 110 and at least 2 short-distance ultrasonic radars 120 are provided at the front end of the vehicle body 1; wherein the 2 long-range ultrasonic radars 110 at the front end of the vehicle body 1 are symmetrically arranged along a first central axis 130 of the vehicle body 1; the 2 short-distance ultrasonic radars 120 at the front end of the vehicle body 1 are symmetrically arranged on two sides, far away from the first central axis 130, of the 2 long-distance ultrasonic waves at the front end of the vehicle body 1; the 2 long-distance ultrasonic radars 110 at the front end of the vehicle body 1 are symmetrically arranged at the intersection of the front end and both sides of the vehicle body 1.
In a specific implementation, the ultrasonic radars installed on the vehicle are divided into two types, a long-distance ultrasonic radar 110 and a short-distance ultrasonic radar 120, at least 4 long-distance ultrasonic radars 110 and at least 2 short-distance ultrasonic radars 120 may be installed at the front end of the vehicle body 1, since the traveling direction of the vehicle is the most forward, several ultrasonic radars may be installed at the front end of the vehicle body 1, and the long-distance ultrasonic radar 110 and the short-distance ultrasonic radar 120 are installed, specifically, 2 long-distance ultrasonic radars 110 are symmetrically installed on a first central axis 130 at the front end of the vehicle body 4, an obstacle in a far area right in front of the vehicle can be detected by the long-distance ultrasonic radar 110, a sector angle of a detection range is small, and 2 short-distance ultrasonic radars 120 are symmetrically installed on both sides of the 2 long-distance ultrasonic radars 110 far from the first central axis 130 at the vehicle body 1, can detect the barrier in the nearer region in the dead ahead of vehicle, detection range's fan-shaped angle is great, and the intersection of the front end of vehicle body 1 and both sides sets up 1 long distance ultrasonic radar 110 respectively, can guarantee to detect the barrier in vehicle left front side and right front side region, thus, cooperation through long distance ultrasonic radar 110 and short distance ultrasonic radar 120, it is big to perceive detection range, vehicle body 1 front end region all can be covered, vehicle body 1 front end region does not have the blind area, therefore can accurately detect vehicle body front end and surrounding barrier, can further promote the security of vehicle at the in-process of traveling.
At least 2 short-distance ultrasonic radars 120 are respectively arranged on two sides of the vehicle body 1, and 2 short-distance ultrasonic radars 120 on one side of the vehicle body 1 are symmetrically arranged along a second central axis 140 of the vehicle body 1.
At least 4 long-range ultrasonic radars 110 are arranged at the rear end of the vehicle body 1, wherein 2 long-range ultrasonic radars 110 at the rear end of the vehicle body 1 are symmetrically arranged along a first central axis 130 of the vehicle body 1; the 2 long-distance ultrasonic radars 110 at the rear end of the vehicle body 1 are symmetrically arranged at the intersection of the rear end and the two sides of the vehicle body 1.
In concrete implementation, because when the vehicle backs, the ultrasonic radar that can use vehicle body 1 rear end carries out the detection of barrier to the region of vehicle rear end, so will ensure that the detection zone can not have the blind area, but the regional scope that needs to survey when backing a car is little, so do not need long ultrasonic radar 110 and short distance ultrasonic radar 120 to cooperate the switching to survey, only need set up the same type ultrasonic radar 100 can, to this application setting be long distance ultrasonic radar 110, the detectable distance is compared short distance ultrasonic radar 120 and is some more longer, so, the region that can ensure vehicle rear end when backing a car all can be detected.
In one possible embodiment, the ultrasonic radar is arranged such that the vehicle body is located at an equal height from the ground.
In this way, in order to accurately acquire the obstacle information, it is preferable that the plurality of ultrasonic radars be disposed at the same height, that is, all the ultrasonic radars installed around the vehicle body have the same distance from the ground.
It should be noted that, a person skilled in the art can adjust the installation height of the ultrasonic radar according to the performance of the ultrasonic radar and the structure of the vehicle itself.
Still further, the sensors include a shift position sensor, a speed sensor, a rotation angle sensor, and a temperature sensor.
The gear sensor is electrically connected with the control device, arranged on a transmission of the vehicle and used for acquiring gear information of the vehicle.
In specific implementation, the gear sensor is communicated with the control device through the CAN bus, and the control device CAN acquire the gear information of the vehicle acquired by the gear sensor through the CAN bus.
The speed sensor is electrically connected with the control device, is arranged on a wheel axle of a rear wheel of the vehicle and is used for acquiring the running speed of the vehicle.
In specific implementation, the speed sensor communicates with the control device through a CAN bus, and the control device CAN acquire the running speed of the vehicle acquired by the speed sensor through the CAN bus.
The corner sensor is electrically connected with the control device, arranged on a steering column of a steering wheel of the vehicle and used for collecting the rotation angle of the steering wheel of the vehicle.
In specific implementation, the rotation angle sensor communicates with the control device through a CAN bus, and the control device CAN acquire the rotation angle of the steering wheel of the vehicle, which is acquired by the rotation angle sensor, through the CAN bus.
The temperature sensor is electrically connected with the control device, arranged on the vehicle body and used for collecting the ambient temperature.
In specific implementation, the temperature sensor communicates with the control device through the CAN bus, and the control device CAN acquire the ambient temperature acquired by the temperature sensor through the CAN bus.
Example two
The embodiment of the application provides a vehicle, and the vehicle comprises the anti-collision system in the first embodiment.
In a specific implementation, the anti-collision system can be an anti-collision system arranged below the vehicle main control system; the anti-collision system can also be an independent anti-collision system outside the main control system, so that the anti-collision system can play a role of assisting the main control system to brake, and can prevent the vehicle from collision accidents when the main control system fails or other operation errors occur, thereby further ensuring the safety of the vehicle.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present application, and are used for illustrating the technical solutions of the present application, but not limiting the same, and the scope of the present application is not limited thereto, and although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the present disclosure, which should be construed in light of the above teachings. Are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A collision avoidance system, characterized in that it comprises at least 4 ultrasonic radars, sensors and control means;
the 4 ultrasonic radars are respectively in communication connection with the control device, are respectively arranged at the front end, the rear end and two sides of the vehicle body and are used for detecting obstacles around the vehicle body, and each ultrasonic radar comprises a long-distance ultrasonic radar and a short-distance ultrasonic radar;
the sensor is electrically connected with the control device and used for acquiring the driving parameters of the vehicle;
the control device is respectively in communication connection with the ultrasonic radar and is electrically connected with the sensor.
2. The collision avoidance system of claim 1, further comprising a braking device;
the braking device is electrically connected with the control device and is an electronic hydraulic brake.
3. The collision avoidance system of claim 1, wherein the front end of the vehicle body is provided with at least 3 long range ultrasonic radars and at least 2 short range ultrasonic radars; wherein the content of the first and second substances,
the 1 long-range ultrasonic radar of the front end of the vehicle body is provided in the center of the front end of the vehicle body;
the 2 short-distance ultrasonic radars at the front end of the vehicle body are symmetrically arranged along a first central axis of the vehicle body;
2 of the front end of vehicle body long distance ultrasonic radar symmetry sets up the junction of front end and both sides of vehicle body.
4. The collision avoidance system of claim 1, wherein the front end of the vehicle body is provided with at least 4 long range ultrasonic radars and at least 2 short range ultrasonic radars; wherein the content of the first and second substances,
the 2 long-distance ultrasonic radars at the front end of the vehicle body are symmetrically arranged along a first central axis of the vehicle body;
the 2 short-distance ultrasonic radars at the front end of the vehicle body are symmetrically arranged on two sides, far away from the first central axis, of the 2 long-distance ultrasonic radars at the front end of the vehicle body;
2 of the front end of vehicle body long distance ultrasonic radar symmetry sets up the junction of front end and both sides of vehicle body.
5. The collision avoidance system of claim 1, wherein at least 2 of the short-range ultrasonic radars are disposed on each side of the vehicle body, and the 2 short-range ultrasonic radars on one side of the vehicle body are symmetrically disposed along the second central axis of the vehicle body.
6. The collision avoidance system of claim 1, wherein the rear end of the vehicle body is provided with at least 3 long range ultrasonic radars, wherein,
the 1 long-distance ultrasonic radar of the rear end of the vehicle body is provided in the center of the rear end of the vehicle body;
2 of the rear end of vehicle body long distance ultrasonic radar sets up the intersection of the rear end of vehicle body and both sides.
7. The collision avoidance system of claim 1, wherein the rear end of the vehicle body is provided with at least 4 long range ultrasonic radars, wherein,
the 2 long-distance ultrasonic radars at the rear end of the vehicle body are symmetrically arranged along a first central axis of the vehicle body;
2 of the rear end of vehicle body long distance ultrasonic radar symmetry set up in the intersection of the rear end of vehicle body and both sides.
8. The collision avoidance system of claim 1, wherein the ultrasonic radar sets the vehicle body to be located at an equal height from the ground.
9. The collision avoidance system of claim 1, wherein the sensors include a gear sensor, a speed sensor, a rotational angle sensor, and a temperature sensor;
the gear sensor is electrically connected with the control device, arranged on a transmission of the vehicle and used for acquiring gear information of the vehicle;
the speed sensor is electrically connected with the control device, is arranged on a wheel axle of a rear wheel of the vehicle and is used for acquiring the running speed of the vehicle;
the steering angle sensor is electrically connected with the control device, is arranged on a steering column of a steering wheel of the vehicle, and is used for acquiring the rotation angle of the steering wheel of the vehicle;
the temperature sensor is electrically connected with the control device, arranged on the vehicle body and used for collecting the ambient temperature.
10. A vehicle, characterized in that it comprises a collision avoidance system according to any one of claims 1 to 9.
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| CN201920931869.6U CN210101616U (en) | 2019-06-19 | 2019-06-19 | Anti-collision system and vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112162283A (en) * | 2020-08-18 | 2021-01-01 | 重庆睿行电子科技有限公司 | All-section networking traffic radar multi-target detection system |
| CN113511136A (en) * | 2020-04-10 | 2021-10-19 | 广州汽车集团股份有限公司 | Backing alarm method and device |
| CN114428252A (en) * | 2022-01-25 | 2022-05-03 | 珠海极海半导体有限公司 | Ultrasonic distance detection chip, system and method and vehicle control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113511136A (en) * | 2020-04-10 | 2021-10-19 | 广州汽车集团股份有限公司 | Backing alarm method and device |
| CN113511136B (en) * | 2020-04-10 | 2024-04-12 | 广州汽车集团股份有限公司 | Reversing alarm method and device |
| CN112162283A (en) * | 2020-08-18 | 2021-01-01 | 重庆睿行电子科技有限公司 | All-section networking traffic radar multi-target detection system |
| CN114428252A (en) * | 2022-01-25 | 2022-05-03 | 珠海极海半导体有限公司 | Ultrasonic distance detection chip, system and method and vehicle control method |
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