CN210591844U

CN210591844U - Vehicle collision-preventing device

Info

Publication number: CN210591844U
Application number: CN201921427842.XU
Authority: CN
Inventors: 刘泰远; 姜舜; 史耀华; 于春雨; 应来明
Original assignee: Tai Yuan (beijing) Technology Research Institute
Current assignee: Tai Yuan (beijing) Technology Research Institute
Priority date: 2019-08-29
Filing date: 2019-08-29
Publication date: 2020-05-22
Anticipated expiration: 2029-08-29

Abstract

The utility model provides a collision avoidance device for vehicle, the device includes: the device comprises a millimeter wave radar, a laser range finder, a vehicle speed measuring instrument and an electric control mechanism, wherein the number of the millimeter wave radar, the number of the brake actuating mechanism and the number of the vehicle speed measuring instrument are 1, the number of the laser range finder is 2, and the millimeter wave radar, the laser range finder and the vehicle speed measuring instrument are connected through a wire harness and are respectively connected to the electric control mechanism; the millimeter wave radar is installed in the middle area of the air supply network before the vehicle, the laser range finders are symmetrically installed on the left side and the right side of the millimeter wave radar respectively, the vehicle speed measuring instrument is installed in the area away from the vehicle transmission shaft by a preset first distance, and the electric control mechanism is installed in the cab. The collision probability of the vehicle can be effectively reduced, and the collision avoidance efficiency is improved.

Description

Vehicle collision-preventing device

Technical Field

The utility model relates to a vehicle safety drives technical field, particularly, relates to a vehicle keeps away and bumps device.

Background

With the rapid development of economy in China, vehicles have become main transportation tools for family trip. The increasing of the holding amount of the household vehicles promotes a great amount of novices with inexperienced driving experiences, so that traffic accidents such as collision between the vehicles and the front vehicles and the like are easy to occur after the front vehicles decelerate in the driving process.

At present, in the driving process, a millimeter wave radar installed on a vehicle is mainly used for avoiding collision with a front vehicle, and when the millimeter wave radar monitors that the distance between the front vehicle and the vehicle is smaller than a preset safe distance threshold value, the danger of collision is determined to exist, and an alarm is sent to a driver, so that the driver can take anti-collision measures in time.

However, in the vehicle collision avoidance method, the millimeter wave radar performs collision avoidance warning according to the distance between the vehicle and the preceding vehicle, but when the relative distance between the vehicle and the preceding vehicle is small, the millimeter wave radar performs distance detection, so that a blind area exists, the relative distance detection precision is low in a short distance, the collision avoidance efficiency is poor, and the collision of the vehicle cannot be effectively reduced.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims at providing a vehicle collision avoidance device to reduce the probability that the vehicle bumps, improve collision avoidance efficiency.

In a first aspect, the embodiment of the present invention provides a collision avoidance device for a vehicle, including: millimeter-wave radar, laser range finder, vehicle speed measuring instrument and electric control mechanism, wherein,

the number of the millimeter wave radar, the brake actuating mechanism and the vehicle speed measuring instrument is 1, the number of the laser range finders is 2, and the millimeter wave radar, the laser range finders and the vehicle speed measuring instrument are connected through wire bundles and are respectively connected to the electric control mechanism;

the millimeter wave radar is installed in the middle area of the air supply network before the vehicle, the laser range finders are symmetrically installed on the left side and the right side of the millimeter wave radar respectively, the vehicle speed measuring instrument is installed in the area away from the vehicle transmission shaft by a preset first distance, and the electric control mechanism is installed in the cab.

In combination with the first aspect, the present invention provides a first possible implementation manner of the first aspect, wherein,

the millimeter wave radar is used for transmitting a millimeter wave signal to a front obstacle, receiving a millimeter reflected wave signal reflected by the front obstacle, determining a first relative distance and a first relative speed of the vehicle relative to the front obstacle according to the millimeter wave signal and the millimeter reflected wave signal, and outputting the first relative distance and the first relative speed to the electronic control mechanism;

the laser range finder is used for transmitting a laser signal to the front obstacle, receiving a laser reflection signal reflected by the front obstacle, determining a second relative distance and a second relative speed of the vehicle relative to the front obstacle according to the laser signal and the laser reflection signal, and outputting the second relative distance and the second relative speed to the electric control mechanism;

the vehicle speed measuring instrument is used for measuring the real-time vehicle speed of the vehicle and outputting the measured real-time vehicle speed to the electric control mechanism;

the electronic control mechanism is used for generating a first early warning instruction according to the first relative distance, the first relative speed and the real-time vehicle speed if the first relative distance is greater than a preset distance threshold value and the first relative speed is greater than zero, and early warning a driver of the vehicle so that the driver can brake according to the first early warning instruction;

if the first relative distance is not larger than a preset distance threshold value and the first relative speed is larger than zero, obtaining the smaller value of the first relative distance and the second relative distance, generating a second early warning instruction according to the smaller value, the first relative speed and the real-time vehicle speed, and early warning a driver of the vehicle so that the driver brakes according to the second early warning instruction.

With reference to the first possible implementation manner of the first aspect, an embodiment of the present invention provides a second possible implementation manner of the first aspect, wherein the electric control mechanism is further configured to:

displaying the first relative distance, the second relative distance and the real-time vehicle speed;

and after generating an early warning instruction, performing voice/sound alarm, and braking the output of the vehicle drive according to the early warning instruction, wherein the early warning instruction comprises a first early warning instruction and a second early warning instruction.

With reference to the first possible implementation manner of the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, where the method further includes:

the number of the brake actuating mechanisms is 1, the brake actuating mechanisms are connected with the brake actuating mechanisms through wire harnesses and are arranged in an area which is a preset second distance away from a vehicle brake pedal;

and the electric control mechanism is further used for monitoring that the driver does not brake according to the early warning instruction within the control time corresponding to the early warning instruction after generating the early warning instruction, outputting the early warning instruction to the brake execution mechanism so that the brake execution mechanism brakes according to the early warning instruction, wherein the early warning instruction comprises a first early warning instruction and a second early warning instruction.

With reference to the first aspect and any one of the first to third possible implementation manners of the first aspect, an embodiment of the present invention provides a fourth possible implementation manner of the first aspect, wherein the millimeter wave radar includes: radar transceiver, modulation signal generator, difference frequency signal preprocessor, A/D converter, digital signal processor based on field programmable gate array, wherein,

a modulation signal generator for outputting the generated triangular wave for modulation to the radar transceiver;

the radar transceiver is used for transmitting a linear frequency modulation signal of a radio frequency wave band generated according to the received triangular wave to a front obstacle, and outputting the linear frequency modulation signal and an echo signal obtained by reflecting the transmitted linear frequency modulation signal by the front obstacle to the difference frequency signal preprocessor;

the difference frequency signal preprocessor is used for outputting a difference frequency signal obtained by performing frequency mixing processing on the received echo signal and the linear frequency modulation signal to the analog-digital converter;

the analog-digital converter is used for performing analog-digital conversion and digital filtering on the received difference frequency signal to obtain a digital signal and outputting the digital signal to the FPGA-based digital signal processor;

and the digital signal processor is used for outputting a first relative distance, relative to the front obstacle, of the vehicle obtained by processing the digital signals to the electric control mechanism.

With reference to the fourth possible implementation manner of the first aspect, an embodiment of the present invention provides a fifth possible implementation manner of the first aspect, where the millimeter wave radar further includes:

and the modulation signal regulator is used for regulating the amplitude and the frequency of the triangular wave output by the modulation signal generator and outputting the triangular wave to the radar transceiver.

With reference to the fourth possible implementation manner of the first aspect, the present invention provides a sixth possible implementation manner of the first aspect, wherein the modulation signal generator includes: an oscillation integrated circuit, a first capacitor, a second capacitor, a third capacitor, a fourth capacitor, a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor, a sixth resistor, a seventh resistor, an eighth resistor, a ninth resistor, and a tenth resistor,

one end of the eighth resistor is connected with the positive pole of the preset first voltage, and the other end of the eighth resistor is connected with one end of the sixth resistor;

the other end of the sixth resistor is connected with the negative pole of the preset first voltage;

one end of the first capacitor is connected with the positive pole of the preset first voltage, the other end of the first capacitor is connected with an eighth pin of the oscillation integrated circuit, and the eighth pin is movably connected with an eighth resistor;

one end of the second capacitor is connected with a tenth pin of the oscillation integrated circuit, and the other end of the second capacitor is connected with the negative pole of the preset first voltage;

a fourth pin of the oscillation integrated circuit is connected with one end of a first resistor, the other end of the first resistor is connected with one end of a seventh resistor, the other end of the seventh resistor is connected with one end of a second resistor, the other end of the second resistor is connected with a fifth pin of the oscillation integrated circuit, and the positive pole of the preset first voltage is movably connected to the seventh resistor;

a sixth pin of the oscillation integrated circuit is connected with the positive pole of the preset first voltage;

a ninth pin of the oscillation integrated circuit is connected with one end of a third resistor and outputs square waves, and the other end of the third resistor is connected with the positive pole of a preset first voltage;

a third pin of the oscillation integrated circuit outputs triangular waves;

a second pin of the oscillation integrated circuit outputs a sine wave;

the eleventh pin of the oscillation integrated circuit is connected with the negative pole of the preset first voltage;

a first pin of the oscillation integrated circuit is connected with one end of a third capacitor, and the other end of the third capacitor is connected with the negative pole of a preset first voltage;

the first pin of the oscillation integrated circuit is also movably connected to the ninth resistor;

one end of the ninth resistor is connected with the negative electrode of the preset first voltage, and the other end of the ninth resistor is connected with one end of the fourth resistor;

the other end of the fourth resistor is respectively connected with the positive pole of the preset first voltage and one end of the fifth resistor;

the other end of the fifth resistor is connected with one end of the tenth resistor;

the other end of the tenth resistor is respectively connected with one end of the fourth capacitor and the negative electrode of the preset first voltage;

the twelfth pin of the oscillation integrated circuit and the other end of the fourth capacitor are also movably connected to the tenth resistor.

With reference to the fifth possible implementation manner of the first aspect, the present invention provides a seventh possible implementation manner of the first aspect, wherein the modulation signal regulator includes: an eleventh resistor, a twelfth resistor, a thirteenth resistor, a fourteenth resistor, a fifteenth resistor, a sixteenth resistor, a seventeenth resistor, an eighteenth resistor, a first op-amp, and a fifth capacitor,

one end of the eleventh resistor is connected with the positive pole of the preset first voltage, and the other end of the eleventh resistor is connected with one end of the sixteenth resistor;

the other end of the sixteenth resistor is grounded;

one end of the thirteenth resistor is connected with the triangular wave, and the other end of the thirteenth resistor is connected with one end of the seventeenth resistor;

the other end of the seventeenth resistor is grounded;

the third end of the first operational amplifier is respectively connected with one end of a twelfth resistor and one end of a fourteenth resistor, and the other end of the twelfth resistor is movably connected to a sixteenth resistor;

the other end of the fourteenth resistor is connected with one end of a fifth capacitor, and the other end of the fifth capacitor is movably connected to the seventeenth resistor;

the second end of the first operation and discharge device is respectively connected with one end of a fifteenth resistor and one end of an eighteenth resistor, and is movably connected to the eighteenth resistor, the other end of the fifteenth resistor is grounded, the other end of the eighteenth resistor is connected with the first end of the first operation and discharge device, and the first end of the first operation and discharge device is an output end;

the eighth end of the first operational amplifier is connected with the positive pole of the preset first voltage, and the fourth end of the first operational amplifier is connected with the negative pole of the preset first voltage.

With reference to the fourth possible implementation manner of the first aspect, the present invention provides an eighth possible implementation manner of the first aspect, wherein the difference frequency signal preprocessor includes: the gain adjusting circuit is respectively connected with the second-order high-pass filter and the anti-aliasing filter.

With reference to the eighth possible implementation manner of the first aspect, an embodiment of the present invention provides a ninth possible implementation manner of the first aspect, wherein the second-order high-pass filter includes: a nineteenth resistor, a twentieth resistor, a twenty-first resistor, a twenty-second resistor, a twenty-third resistor, a twenty-fourth resistor, a twenty-fifth resistor, a twenty-sixth resistor, a twenty-seventh resistor, a sixth capacitor, a seventh capacitor, an eighth capacitor, a ninth capacitor, a tenth capacitor, a second operational amplifier and a third operational amplifier,

one end of the nineteenth resistor is connected with the positive electrode of the preset second voltage, and the other end of the nineteenth resistor is connected with one end of the twenty-first resistor, the sixth capacitor, the twenty-second resistor and the twentieth resistor respectively;

the other ends of the twenty-first resistor and the sixth capacitor are grounded;

the other end of the twenty-second resistor is connected with the third end of the second operational amplifier, and the other end of the twentieth resistor is connected with the fifth end of the third operational amplifier;

the eighth end of the second operational amplifier and the eighth end of the third operational amplifier are respectively connected with the positive pole of the preset first voltage, and the fourth end of the second operational amplifier and the fourth end of the third operational amplifier are respectively connected with the negative pole of the preset first voltage;

the second end of the second operational amplifier is respectively connected with one end of a twenty-fifth resistor, one end of a twenty-sixth resistor and one end of a tenth capacitor;

the other end of the twenty-fifth resistor is connected with one end of an eighth capacitor, and the other end of the eighth capacitor is respectively connected with the transmitting signal, the reflected signal and one end of a twenty-seventh resistor;

the other end of the twenty-seventh resistor is grounded;

the other ends of the twenty-sixth resistor and the tenth capacitor are connected with the first end of the second operational amplifier, and the first end of the second operational amplifier is also connected with one end of the seventh capacitor;

the other end of the seventh capacitor is connected with one end of a twenty-third resistor, and the other end of the twenty-third resistor is respectively connected with a sixth end of the third operational amplifier, one end of a twenty-fourth resistor and one end of a ninth capacitor;

the other ends of the twenty-fourth resistor and the ninth capacitor are connected with a seventh end of the third operational amplifier, and the seventh end of the third operational amplifier is an output end.

The embodiment of the utility model provides a vehicle collision avoidance device, through receiving the first relative distance and the first relative speed of vehicle relative to the barrier in the place ahead that millimeter wave radar detected; receiving a second relative distance and a second relative speed of the vehicle relative to the front obstacle, which are detected by a laser range finder; receiving the real-time speed of the vehicle detected by a vehicle speed measuring instrument; if the first relative distance is greater than a preset distance threshold value and the first relative speed is greater than zero, generating a first early warning instruction according to the first relative distance, the first relative speed and the real-time vehicle speed, and early warning a driver of the vehicle so that the driver brakes according to the first early warning instruction; if the first relative distance is not larger than a preset distance threshold value and the first relative speed is larger than zero, obtaining the smaller value of the first relative distance and the second relative distance, generating a second early warning instruction according to the smaller value, the first relative speed and the real-time vehicle speed, and early warning a driver of the vehicle so that the driver brakes according to the second early warning instruction. Like this, through millimeter wave radar and laser range finder and speed of a motor vehicle measuring apparatu's monitoring to carry out information processing with detected information output to electrical control mechanism, when detecting that the vehicle has the danger with the place ahead barrier emergence rear-end collision accident, remind the driver in time to take and keep away the measure, thereby avoid the emergence of rear-end collision accident, reduce the probability that the vehicle collided, improve and keep away collision efficiency.

In order to make the aforementioned and other objects, features and advantages of the present invention 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 invention, 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 invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of a vehicle collision avoidance apparatus according to an embodiment of the present invention;

fig. 2 shows a schematic structural diagram of a millimeter wave radar provided by an embodiment of the present invention;

fig. 3 is a schematic diagram illustrating frequency changes of a transmitting signal and a receiving signal provided by an embodiment of the present invention;

fig. 4 is a schematic diagram showing the frequency and time of the transmitting signal, the receiving signal and the difference frequency signal when the front obstacle moves relative to the millimeter wave radar according to the embodiment of the present invention;

fig. 5 is a schematic circuit diagram of a modulated signal generator according to an embodiment of the present invention;

fig. 6 is a schematic diagram illustrating a circuit structure of a modulation signal regulator according to an embodiment of the present invention;

fig. 7 is a schematic circuit diagram of a second-order high-pass filter provided in an embodiment of the present invention;

fig. 8 is a schematic diagram illustrating a circuit structure of a gain adjustment circuit according to an embodiment of the present invention;

fig. 9 is a schematic diagram illustrating a circuit structure of an anti-aliasing filter provided by an embodiment of the present invention;

fig. 10 is a schematic flow chart illustrating a vehicle collision avoidance method according to an embodiment of the present invention;

fig. 11 is a schematic structural diagram of a computer device 110 according to an embodiment of the present disclosure.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings in the embodiments of the present invention are combined to clearly and completely describe the technical solutions in the embodiments of the present invention, and obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiment of the present invention, all other embodiments obtained by the person skilled in the art without creative work belong to the protection scope of the present invention.

An embodiment of the present invention provides a vehicle collision avoidance apparatus, which is described below by way of an embodiment.

Fig. 1 shows a schematic structural diagram of a vehicle collision avoidance device provided by an embodiment of the present invention. As shown in fig. 1, in the embodiment of the present invention, a vehicle collision avoidance apparatus includes: a millimeter wave radar 11, a laser range finder 12, a vehicle speed measuring instrument 13, and an electric control mechanism 14, wherein,

the number of the millimeter wave radar 11, the brake actuating mechanism 13 and the vehicle speed measuring instrument 14 is 1, the number of the laser range finders 12 is 2, and the millimeter wave radar 11, the laser range finders 12 and the vehicle speed measuring instrument 13 are connected through wire bundles and respectively connected to the electric control mechanism 14;

the millimeter wave radar 11 is arranged in the middle area of a front air network of a vehicle, the laser range finders 12 are symmetrically arranged on the left side and the right side of the millimeter wave radar 11 respectively, the vehicle speed measuring instrument 13 is arranged in an area away from a vehicle transmission shaft by a preset first distance, and the electric control mechanism 14 is arranged in a cab;

a millimeter wave radar 11 for transmitting a millimeter wave signal to a front obstacle, receiving a millimeter reflected wave signal reflected by the front obstacle, determining a first relative distance and a first relative velocity of the vehicle with respect to the front obstacle based on the millimeter wave signal and the millimeter reflected wave signal, and outputting the first relative distance and the first relative velocity to an electronic control mechanism 14;

the laser range finder 12 is configured to emit a laser signal to the front obstacle, receive a laser reflection signal reflected by the front obstacle, determine a second relative distance and a second relative speed of the vehicle with respect to the front obstacle according to the laser signal and the laser reflection signal, and output the second relative distance and the second relative speed to the electronic control mechanism 14;

the vehicle speed measuring instrument 13 is used for measuring the real-time vehicle speed of the vehicle and outputting the measured real-time vehicle speed to the electric control mechanism 14;

the electronic control mechanism 14 is configured to generate a first early warning instruction according to the first relative distance, the first relative speed and the real-time vehicle speed if the first relative distance is greater than a preset distance threshold and the first relative speed is greater than zero, and early warn a driver of the vehicle so that the driver brakes according to the first early warning instruction;

The embodiment of the utility model provides an in, the automatic braking of vehicle is realized to the driver according to the early warning instruction, avoids the vehicle to bump the accident. For example, if the first relative distance is larger but smaller than the safety distance, and the first relative speed is positive (the vehicle speed is greater than the vehicle speed of the obstacle ahead) and smaller, and the defined danger level is smaller, the generated first warning instruction may indicate that the driver of the vehicle needs to slightly decelerate; if the first relative distance is greater and the first relative speed is positive and greater, defining the danger level as medium, and the generated first warning instruction may indicate that a driver of the vehicle needs to decelerate the vehicle speed to below a certain speed; if the second relative distance is smaller and the first relative speed is positive and smaller, the defined danger level is larger, and the generated second early warning instruction can indicate that the driver of the vehicle needs to decelerate immediately; if the second relative distance is small and the real-time vehicle speed is positive and large, the generated second early warning instruction may indicate that the driver of the vehicle needs to decelerate immediately and perform emergency braking.

In the embodiment of the utility model, the first relative distance between the front obstacle and the vehicle is detected by the millimeter wave radar, which has strong capability of penetrating fog, smoke and dust, little influence by natural light and heat radiation source, high precision, is suitable for remote detection, and has blind area and poor precision in a short distance; meanwhile, the laser range finder is used for detecting the second relative distance between the front obstacle and the vehicle, the laser range finder is high in anti-interference capacity and low in cost, and is suitable for short-distance detection. Therefore, combine millimeter wave radar and laser range finder, survey the relative distance of place ahead barrier and vehicle, can realize the range detection in the full range to promote the range detection precision, carry out brake control according to the high detection distance of precision, can effectively reduce the probability that the vehicle bumps, improve and keep away collision efficiency.

In the embodiment of the present invention, as an optional embodiment, the electric control mechanism is further configured to:

displaying the first relative distance, the second relative distance, the first relative speed, the second relative speed and the real-time vehicle speed;

In the embodiment of the utility model provides an in, automatically controlled mechanism has information display function and pronunciation/audible alarm function.

The embodiment of the utility model provides an in, millimeter wave radar and laser range finder combine together for survey the relative distance of place ahead barrier and vehicle.

In an embodiment of the present invention, as an optional embodiment, the vehicle collision avoidance apparatus further includes:

the brake actuators 15 are 1 in number, connected with the brake actuators through wire harnesses and arranged in an area which is a preset second distance away from a brake pedal of the vehicle;

the electronic control mechanism 14 is further configured to monitor that the driver does not brake according to the early warning instruction within the control time corresponding to the early warning instruction after generating the early warning instruction, and output the early warning instruction to the brake execution mechanism, so that the brake execution mechanism brakes according to the early warning instruction, where the early warning instruction includes a first early warning instruction and a second early warning instruction.

The embodiment of the utility model provides an in, the automatic braking of vehicle is realized according to the early warning instruction to the braking actuating mechanism, avoids the vehicle to bump the accident.

In the embodiment of the utility model, as an optional embodiment, different early warning instruction corresponds there is different control time. For example, if the first relative distance is larger than the safety distance and the real-time vehicle speed is positive and smaller, the control time corresponding to the generated warning command may be slightly longer.

The embodiment of the utility model provides an in, through millimeter wave radar and laser range finder and speed of a motor vehicle measuring apparatu's monitoring to carry out information processing with detected information output to electrical control mechanism, when detecting the vehicle have with the place ahead vehicle (the place ahead barrier) take place the danger of rear-end collision accident, early warning before the rear-end collision accident takes place promptly, remind the driver in time to take the collision avoidance measure automatically, for example, take the emergence of braking in order to avoid the accident. If after early warning, the driver is monitored not to take collision avoidance measures, so that when a rear-end collision accident is about to occur, intelligent braking is automatically carried out according to the danger level, the rear-end collision accident is avoided, the probability of collision with a front obstacle is reduced, or the damage to drivers and passengers and the severity of vehicle collision are reduced to the maximum extent.

In the embodiment of the utility model provides an in, as an optional embodiment, the millimeter wave radar belongs to frequency modulation continuous wave millimeter wave radar.

Fig. 2 shows a schematic structural diagram of a millimeter wave radar provided by an embodiment of the present invention. As shown in fig. 2, the millimeter wave radar includes: a radar transceiver 201, a modulation signal generator 202, a difference frequency signal preprocessor 203, an analog-to-digital converter 204, a digital signal processor 205 based on a Field Programmable Gate Array (FPGA), wherein,

a modulation signal generator 202 for outputting the generated triangular wave for modulation to the radar transceiver 201;

a radar transceiver 201 for transmitting a chirp signal of a radio frequency band generated according to the received triangular wave to a front obstacle, and outputting the chirp signal and an echo signal obtained by reflecting the transmitted chirp signal by the front obstacle to a difference frequency signal preprocessor 203;

the embodiment of the utility model provides an in, chirp is by the antenna of radar transceiver 201 to the transmission of place ahead barrier, and the chirp of transmission is reflected by the place ahead barrier, and the antenna reception is by the chirp of place ahead barrier reflection, obtains echo signal, exports chirp and echo signal to difference frequency signal preprocessor 203.

A difference frequency signal preprocessor 203, configured to output a difference frequency signal obtained by performing frequency mixing processing on the received echo signal and the chirp signal to an analog-to-digital converter 204;

the embodiment of the utility model provides an in, difference frequency signal preprocessor 203 carries out mixing processing with the echo signal of receiving and linear frequency modulation signal (transmitting signal), obtains the difference frequency signal that includes distance information. As an alternative embodiment, the difference frequency signal preprocessor 203 is further configured to perform signal preprocessing such as filtering, gain adjustment, and the like on the difference frequency signal, and output the result to the analog-to-digital converter 204.

An analog-to-digital converter 204 for performing analog-to-digital (AD) conversion and digital filtering on the received difference frequency signal to obtain a digital signal, and outputting the digital signal to a digital signal processor 205 based on an FPGA;

and the FPGA-based digital signal processor 205 is used for outputting the first relative distance of the vehicle relative to the front obstacle, which is obtained by processing the digital signal, to the electric control mechanism.

The embodiment of the utility model provides an in, analog-to-digital converter 204 carries out analog-to-digital (AD) conversion and digital filtering back to the signal of receiving, carries out digital signal processing to digital signal processor 205 based on FPGA through Serial Peripheral Interface (SPI, Serial Peripheral Interface) Serial output, acquires the frequency value, calculates based on the higher frequency value of the precision of acquireing at last, obtains the vehicle for the first relative distance of place ahead barrier.

In the embodiment of the utility model, as an optional embodiment, the millimeter wave radar still includes:

and a modulation signal regulator (not shown in the figure) for adjusting the amplitude and frequency of the triangular wave output by the modulation signal generator and outputting the triangular wave to the radar transceiver 201.

In the embodiment of the utility model provides an in, as another optional embodiment, the millimeter wave radar still includes:

and the power supply (not shown in the figure) is respectively connected with the radar transceiver 201, the modulation signal generator 202, the difference frequency signal preprocessor 203, the analog-to-digital converter 204 and the digital signal processor 205 based on the field programmable gate array, and supplies working voltages to the radar transceiver 201, the modulation signal generator 202, the difference frequency signal preprocessor 203, the analog-to-digital converter 204 and the digital signal processor 205 based on the field programmable gate array.

In the embodiment of the utility model provides an in, millimeter wave radar passes through antenna and outwards launches a continuous frequency modulation millimeter wave (chirp signal), and the reflected signal (received signal) of the place ahead barrier is received. The frequency of the transmitted signal (chirp signal) changes with time according to the rule of the modulation signal, and the modulation signal is a triangular wave signal.

Fig. 3 shows a schematic diagram of frequency variation of a transmitting signal and a receiving signal provided by an embodiment of the present invention. As shown in fig. 3, the solid line waveform in the figure represents the transmission signal, the dotted line waveform represents the reception signal, T represents the modulation period of the transmission signal, and Δ F represents the voltageOscillation range of the frequency of the transmitted signal of the controlled oscillator, i.e. bandwidth of modulation, f_{diff_up}Representing the frequency of the difference signal in the forward modulation band, f, after mixing of the transmitted and received signals_{diff_down}Which represents the difference frequency signal frequency of the transmitted signal and the received signal after mixing in the negative tone region.

The embodiment of the present invention provides a delay effect is called as the delay effect by the delay of the transmission signal and the receiving signal caused by signal propagation in time, resulting in the difference of tau generated by the transmission signal and the receiving signal on the time axis, and the difference can make the transmission signal and the receiving signal generate a difference of f on the frequency axis_DelayThe frequency difference of (3). Wherein the content of the first and second substances,

in the formula (I), the compound is shown in the specification,

r is the relative distance of the front obstacle relative to the millimeter wave radar, namely the first relative distance of the vehicle relative to the front obstacle;

and C is the speed of light.

From the trigonometric relationship, it can be taken from fig. 3:

in the embodiment of the utility model, f_Delay＝f_{diff_up}＝f_{diff_down}。

By substituting formula (1) for formula (2), it is possible to obtain:

therefore, when the front obstacle and the millimeter wave radar are relatively static, the relative distance and the difference frequency signal are in a linear relation.

If the front obstacle and the millimeter wave radar have relative motion, the modulation parameters (the modulation period T of the transmission signal and the oscillation range delta F of the transmission frequency) of the transmission signal are not changed, and a triangular wave pair is usedWhen the millimeter wave radar performs frequency modulation, in addition to the time difference t caused by the delay effect, the Doppler frequency shift f caused by the Doppler effect is also considered_Dopp。

Fig. 4 is a schematic diagram showing the frequency and time of the transmitting signal, the receiving signal and the difference frequency signal when the front obstacle and the millimeter wave radar move relatively. As shown in fig. 4, the doppler shift has the following relationship with the moving velocity v of the obstacle in front:

in the formula (I), the compound is shown in the specification,

f_Doppis the Doppler shift, in Hz;

f₀the unit is the transmission frequency of the millimeter wave radar and Hz;

v is the moving speed (m/s) of the front obstacle;

c is the speed of light (m/s);

α is the angle between the line from the millimeter wave radar to the front obstacle and the moving direction of the front obstacle.

The embodiment of the utility model provides an in, for simplified expression (4), make contained angle α be 0, the place ahead barrier is radial motion for the millimeter wave radar promptly, then formula (4) can simplify to:

in fig. 4, in the triangular wave forward modulation frequency band, the time delay effect and the doppler effect cancel each other; in the negative frequency modulation of the triangular wave, the time delay effect and the Doppler effect are superposed with each other. Thus, the triangular wave is in the forward modulation band, the output signal f of the millimeter wave radar_{diff_up}And, in the negative tone range, the output signal f of the millimeter wave radar_{diff_down}Respectively as follows:

f_{diff_up}＝f_Delay-f_Dopp(6)

f_{diff_down}＝f_Delay+f_Dopp(7)

adding equation (6) to equation (7) yields:

f_{diff_up}+f_{diff_down}＝2f_Delay(8)

when formula (8) is substituted for formula (3), it is possible to obtain:

thus, by analyzing the difference frequency signal obtained by signal processing of the millimeter wave radar, the output signal f of the triangular wave in the forward modulation frequency band can be obtained_{diff_up}And, an output signal f in the negative tone range_{diff_down}Then, according to the formula (9), the relative distance (first relative distance) of the front obstacle with respect to the millimeter wave radar can be obtained.

In the embodiment of the present invention, subtracting formula (7) from formula (6) can obtain:

f_{diff_up}-f_{diff_down}＝-2f_Delay(10)

by substituting formula (10) for formula (5), it is possible to obtain:

thus, the output signal of the millimeter wave radar in the positive modulation frequency band and the output signal of the millimeter wave radar in the negative modulation frequency band are obtained, and the transmitting frequency f of the millimeter wave radar is combined₀And the relative speed information of the front obstacle in radial motion relative to the millimeter wave radar can be obtained.

In the embodiment of the utility model, as an optional embodiment, radar transceiver adopts K-wave band radar transceiver (IVS-148), and K-wave band radar transceiver internally integrated Voltage Controlled Oscillator (VCO), radar transceiver adopts plane microstrip antenna structure, and receiving and dispatching antenna closes as an organic wholely, and like this, the structure is small and exquisite, and the during operation low power dissipation also makes easily to integrate in the millimeter wave radar.

The modulation signal generator adopts a precise oscillation integrated circuit ICL8038, the integrated circuit has the characteristics of various waveform output types, low distortion degree, high linearity and the like, the waveform from 0.001Hz to 1MHz can be generated through fewer components, the frequency and the duty ratio of the waveform can be respectively controlled through an external capacitor and a potentiometer, and the output waveform can be triangular wave, square wave, sine wave and the like.

Fig. 5 shows a schematic circuit structure diagram of a modulation signal generator according to an embodiment of the present invention. As shown in fig. 5, the modulation signal generator includes: an oscillation integrated circuit 501, a first capacitor 502, a second capacitor 503, a third capacitor 504, a fourth capacitor 505, a first resistor 506, a second resistor 507, a third resistor 508, a fourth resistor 509, a fifth resistor 510, a sixth resistor 511, a seventh resistor 512, an eighth resistor 513, a ninth resistor 514, and a tenth resistor 515, wherein,

one end of the eighth resistor 513 is connected to the positive electrode of the predetermined first voltage, and the other end is connected to one end of the sixth resistor 511;

the other end of the sixth resistor 511 is connected to the negative pole of the predetermined first voltage;

the first capacitor 502 has one end connected to the positive pole of the predetermined first voltage and the other end connected to an eighth pin of the oscillating ic 501, which is further movably connected to an eighth resistor 513;

one end of the second capacitor 503 is connected to the tenth pin of the oscillation integrated circuit 501, and the other end is connected to the negative pole of the predetermined first voltage;

a fourth pin of the oscillation integrated circuit 501 is connected to one end of a first resistor 506, the other end of the first resistor 506 is connected to one end of a seventh resistor 512, the other end of the seventh resistor 512 is connected to one end of a second resistor 507, the other end of the second resistor 507 is connected to a fifth pin of the oscillation integrated circuit 501, and a positive pole of a predetermined first voltage is movably connected to the seventh resistor 512;

a sixth pin of the oscillation integrated circuit 501 is connected to the positive pole of a predetermined first voltage;

a ninth pin of the oscillation integrated circuit 501 is connected to one end of a third resistor 508 and outputs a square wave, and the other end of the third resistor 508 is connected to the positive electrode of a predetermined first voltage;

a third pin of the oscillation integrated circuit 501 outputs a triangular wave;

a second pin of the oscillation integrated circuit 501 outputs a sine wave;

an eleventh pin of the oscillation integrated circuit 501 is connected to a negative pole of a predetermined first voltage;

a first pin of the oscillation integrated circuit 501 is connected to one end of a third capacitor 504, and the other end of the third capacitor 504 is connected to a negative pole of a predetermined first voltage;

the first pin of the oscillation ic 501 is also movably connected to the ninth resistor 514;

one end of the ninth resistor 514 is connected to the negative terminal of the predetermined first voltage, and the other end is connected to one end of the fourth resistor 509;

the other end of the fourth resistor 509 is connected to the positive electrode of the predetermined first voltage and one end of the fifth resistor 510, respectively;

the other end of the fifth resistor 510 is connected to one end of a tenth resistor 515;

the other end of the tenth resistor 515 is connected to one end of the fourth capacitor 505 and the negative pole of the predetermined first voltage, respectively;

the twelfth pin of the oscillation ic 501 and the other end of the fourth capacitor 505 are also movably connected to the tenth resistor 515.

In the embodiment of the present invention, as an optional embodiment, the capacitance values of the first capacitor 502, the second capacitor 503, the third capacitor 504 and the fourth capacitor 505 are all 0.1 microfarad;

the resistance values of the first resistor 506, the second resistor 507, the third resistor 508, the fourth resistor 509 and the fifth resistor 510 are all 10k ohms, and the resistance value of the sixth resistor 511 is 20k ohms;

the seventh resistor 512 has a resistance of 5k ohms, the eighth resistor 513 has a resistance of 10k ohms, the ninth resistor 514 and the tenth resistor 515 each have a resistance of 100k ohms, and the predetermined first voltage is 12V.

Fig. 6 shows a schematic circuit diagram of a modulation signal regulator according to an embodiment of the present invention. As shown in fig. 6, the modulation signal conditioner includes: an eleventh resistor 601, a twelfth resistor 602, a thirteenth resistor 603, a fourteenth resistor 604, a fifteenth resistor 605, a sixteenth resistor 606, a seventeenth resistor 607, an eighteenth resistor 608, a first opamp 609, and a fifth capacitor 610, wherein,

one end of the eleventh resistor 601 is connected to the positive electrode of the predetermined first voltage, and the other end is connected to one end of the sixteenth resistor 606;

the other end of the sixteenth resistor 606 is grounded;

one end of the thirteenth resistor 603 is connected to the triangle wave, and the other end is connected to one end of the seventeenth resistor 607;

the other end of the seventeenth resistor 607 is grounded;

a third terminal of the first opamp 609 is connected to one end of a twelfth resistor 602 and one end of a fourteenth resistor 604, respectively, and the other end of the twelfth resistor 602 is movably connected to a sixteenth resistor 606;

the other end of the fourteenth resistor 604 is connected to one end of the fifth capacitor 610, and the other end of the fifth capacitor 610 is movably connected to the seventeenth resistor 607;

a second end of the first opamp 609 is connected to one end of a fifteenth resistor 605 and one end of an eighteenth resistor 608 respectively, and is also movably connected to the eighteenth resistor 608, the other end of the fifteenth resistor 605 is grounded, the other end of the eighteenth resistor 608 is connected to a first end of the first opamp 609, and the first end of the first opamp 609 is an output end;

the eighth terminal of the first operational amplifier 609 is connected to the positive terminal of the predetermined first voltage, and the fourth terminal is connected to the negative terminal of the predetermined first voltage.

In the embodiment of the present invention, the model of the first operational amplifier 609 is OPA2211A, the third end is the non-inverting input end, and the second end is the out-of-phase input end. The resistance of the eleventh resistor 601 is 50k ohms, the resistance of the twelfth resistor 602 is 10k ohms, the resistance of the thirteenth resistor 603 is 5k ohms, the resistance of the fourteenth resistor 604 is 10k ohms, the resistance of the fifteenth resistor 605 is 10k ohms, the resistance of the sixteenth resistor 606 is 5k ohms, the resistance of the seventeenth resistor 607 is 20k ohms, the resistance of the eighteenth resistor 608 is 100k ohms, and the capacitance of the fifth capacitor 610 is 10 microfarads.

The embodiment of the utility model provides an in, through adjusting sixteenth resistance 606 and eighteenth resistance 608, can control the direct current offset and the peak value scope of triangular wave respectively.

In the embodiment of the present invention, as an optional embodiment, the difference frequency signal preprocessor includes: the gain adjusting circuit is respectively connected with the second-order high-pass filter and the anti-aliasing filter.

Fig. 7 shows a schematic circuit structure diagram of a second-order high-pass filter provided in an embodiment of the present invention. As shown in fig. 7, the second-order high-pass filter includes: a nineteenth resistor 701, a twentieth resistor 702, a twenty-first resistor 703, a twenty-second resistor 704, a twenty-third resistor 705, a twenty-fourth resistor 706, a twenty-fifth resistor 707, a twenty-sixth resistor 708, a twenty-seventh resistor 709, a sixth capacitor 710, a seventh capacitor 711, an eighth capacitor 712, a ninth capacitor 713, a tenth capacitor 714, a second op-amp 715, and a third op-amp 716, wherein,

one end of the nineteenth resistor 701 is connected to the positive electrode of the predetermined second voltage, and the other end is connected to one end of the twenty-first resistor 703, the sixth capacitor 710, the twenty-second resistor 704, and the twentieth resistor 702, respectively;

the other ends of the twenty-first resistor 703 and the sixth capacitor 710 are grounded;

the other end of the twenty-second resistor 704 is connected to the third terminal of the second op amp 715, and the other end of the twentieth resistor 702 is connected to the fifth terminal of the third op amp 716;

the eighth end of the second operational amplifier 715 and the eighth end of the third operational amplifier 716 are respectively connected to the positive pole of the predetermined first voltage, and the fourth end of the second operational amplifier 715 and the fourth end of the third operational amplifier 716 are respectively connected to the negative pole of the predetermined first voltage;

a second end of the second op-amp 715 is connected to one end of a twenty-fifth resistor 707, a twenty-sixth resistor 708, and a tenth capacitor 714, respectively;

the other end of the twenty-fifth resistor 707 is connected to one end of the eighth capacitor 712, and the other end of the eighth capacitor 712 is connected to one end of the transmitted signal, the reflected signal, and the twenty-seventh resistor 709, respectively;

the other end of the twenty-seventh resistor 709 is grounded;

the other ends of the twenty-sixth resistor 708 and the tenth capacitor 714 are connected to a first end of a second op amp 715, and the first end of the second op amp 715 is further connected to one end of a seventh capacitor 711;

the other end of the seventh capacitor 711 is connected to one end of a twenty-third resistor 705, and the other end of the twenty-third resistor 705 is connected to a sixth end of the third operational amplifier 716, one end of a twenty-fourth resistor 706, and one end of a ninth capacitor 713, respectively;

the other end of the twenty-fourth resistor 706 and the other end of the ninth capacitor 713 are connected to a seventh end of the third operational amplifier 716, and the seventh end of the third operational amplifier 716 is an output end.

In the embodiment of the present invention, as an optional embodiment, the second transporting and placing device 715 is of MC330781, and the third transporting and placing device 716 is of MC 330787. The resistance value of the nineteenth resistor 701 is 47k ohms, the resistance value of the twentieth resistor 702 is 1k ohms, the resistance value of the twenty-first resistor 703 is 15k ohms, the resistance value of the twenty-second resistor 704 is 1k ohms, the resistance value of the twenty-third resistor 705 is 1k ohms, the resistance value of the twenty-fourth resistor 706 is 30k ohms, the resistance value of the twenty-fifth resistor 707 is 1k ohms, the resistance value of the twenty-sixth resistor 708 is 30k ohms, the resistance value of the twenty-seventh resistor 709 is 100k ohms, the capacitance value of the sixth capacitor 710 is 10 microfarads, the capacitance value of the seventh capacitor 711 is 68 nanofarads, the capacitance value of the eighth capacitor 712 is 68 nanofarads, and the capacitance values of the ninth capacitor 713 and the tenth capacitor 714 are 150 picofarads.

The embodiment of the utility model provides an in, predetermined second voltage is 5V, and second order high pass filter is gain-3 dB, frequency for 2 kHz's second order active high pass filter, and the MC33078 of putting ware for having characteristics such as low noise, low offset voltage and high gain bandwidth product is put in fortune. And the second-order high-pass filter filters and amplifies the input signal.

Fig. 8 is a schematic circuit diagram of a gain adjustment circuit according to an embodiment of the present invention. As shown in fig. 8, the gain adjustment circuit includes: a twenty-eighth resistor 801, a twenty-ninth resistor 802, a thirty-third resistor 803, and a fourth op-amp 804, wherein,

one end of the twenty-eighth resistor 801 is connected to an input signal, and the other end of the twenty-eighth resistor 801 is connected to the third end of the fourth operational amplifier 804;

a second end of the fourth operational amplifier 804 is connected to one end of a twenty-ninth resistor 802 and one end of a thirty-fifth resistor 803, respectively, an eighth end is connected to a positive electrode of a predetermined first voltage, and a fourth end is connected to a negative electrode of the predetermined first voltage;

the other end of the thirtieth resistor 803 is grounded, the other end of the twenty-ninth resistor 802 is connected to the first end of the fourth operational amplifier 804, and the first end of the fourth operational amplifier 804 is an output end.

The embodiment of the utility model provides an in, gain adjustment circuit is used for guaranteeing that the difference frequency signal of preceding stage circuit and the AD sampling of back stage do not mutually cause the influence for make the peak-to-peak value of difference frequency signal reach AD's full grade value as far as, can let form effectual isolation around again between the two-stage circuit. As an alternative embodiment, the fourth operational amplifier is of the type OPA2211A, the eighteenth resistor has a resistance of 1k ohm, the twenty-fifth resistor has a resistance of 5k ohm, and the twenty-seventh resistor has a resistance of 10k ohm.

Fig. 9 is a schematic diagram illustrating a circuit structure of an anti-aliasing filter according to an embodiment of the present invention. As shown in fig. 9, the anti-aliasing filter includes: a thirty-first resistor 901 and an eleventh capacitor 902, wherein,

one end of the thirty-first resistor 901 is connected to an input signal, and the other end is connected to one end of the eleventh capacitor 902;

the other end of the eleventh capacitor 902 is grounded, one end of the thirty-first resistor 901 and the other end of the eleventh capacitor 902 form an input end, and two ends of the eleventh capacitor 902 form an output end.

In the embodiment of the present invention, as an optional embodiment, the resistance of the thirty-first resistor 901 is 1k ohms, and the capacitance of the eleventh capacitor 902 is 510 picofarads.

The embodiment of the utility model provides an in, analog-to-digital converter is when sampling the difference frequency signal, if do not take the filtering measure, will appear the interference of high frequency noise, when the frequency of high frequency noise surpassed the Nyquist sampling frequency, will the aliasing of frequency appear. In order to avoid the occurrence of frequency aliasing when the difference frequency signal is digitized, an anti-aliasing filter is adopted to filter frequency components generating the frequency aliasing.

The embodiment of the utility model provides an in, as an optional embodiment, the high-speed serial data converter AD7893 of 12 bits that AD company produced is adopted to the analog to digital conversion circuit, adopts single 5V power supply, and the resolution ratio of converter can reach 0.02%, consumption 25mW, including 6usDAC, sample/keep amplifier, control logic circuit and high-speed serial interface.

The principle of the laser range finder is as follows:

after the laser range finder is powered on, a square wave signal generated by the oscillator controls the self-induction voltage boosting circuit, a main power supply (DC5V) of the laser range finder is converted into direct current pulsating voltage with no-load voltage about DC160V, and emission excitation voltage with no-load voltage about DC120V is formed at an emission electrode through voltage stabilization processing and is used by an emission circuit. The high-voltage direct current pulsating voltage forms an excitation power supply for receiving the photodiode through further filtering so as to be used by the receiving photodiode.

The main processor sends out a laser emission instruction and simultaneously informs the coprocessor that the laser emission instruction is sent out. The method specifically comprises the following steps: the laser command is emitted to control the conduction of the switching triode, so that the high-voltage electricity stored on the capacitor passes through the switching triode instantaneously to excite the pulse infrared laser diode to emit pulse laser. Meanwhile, a pulse signal (main wave) is formed to the coprocessor to inform the coprocessor that the pulse laser is successfully transmitted, and the coprocessor controls the time integration circuit to start charging the integration capacitor.

Laser emitted by the laser range finder is properly focused by the emitting lens to form a light beam to be emitted to a target. The light reflected from the target surface is converged by the receiving lens and projected into the effective photosensitive area of the receiving tube to form a weak narrow pulse signal. After current amplification and voltage amplification (echo pulse signals), the narrow pulse signals are sent to a non-inverting input end (pin 2) of a voltage comparator, a reference power supply is input into the voltage comparator from a non-inverting input end (pin 3) of the voltage comparator, only the echo pulse signals with the voltage higher than the reference voltage can pass through the voltage comparator, and the echo pulse signals with the voltage lower than the reference voltage are filtered. The anti-interference capability of the laser range finder can be adjusted by adjusting the reference voltage.

The useful echo pulse signal is sent to the coprocessor. The coprocessor sends an echo received signal to the main processor and sends an instruction to stop charging the integrating capacitor. The main processor collects the corresponding integral voltage information on the integral capacitor, and calculates the charging time of the integral capacitor through the integral voltage value, namely the total time T from laser emission to echo return. Knowing that the speed of light traveling in air is C3 × 108 m/S, the distance S from the laser range finder to the target to be measured can be calculated by the following formula.

S＝T×C/2

In the formula (I), the compound is shown in the specification,

the unit of S is meters and the unit of the total time T of the laser from transmission to return of the echo is seconds.

Fig. 10 shows a schematic flow chart of a vehicle collision avoidance method according to an embodiment of the present invention.

Step 101, receiving a first relative distance and a first relative speed of a vehicle relative to a front obstacle, which are detected by a millimeter wave radar;

102, receiving a second relative distance and a second relative speed of the vehicle relative to the front obstacle, which are detected by a laser range finder;

103, receiving the real-time speed of the vehicle detected by a vehicle speed measuring instrument;

step 104, whether the first relative distance is greater than a preset distance threshold and the first relative speed is greater than zero, if yes, step 105 is executed, otherwise, step 106 is executed;

105, generating a first early warning instruction according to the first relative distance, the first relative speed and the real-time vehicle speed, and early warning a driver of the vehicle so that the driver brakes according to the first early warning instruction;

and 106, acquiring the smaller value of the first relative distance and the second relative distance, generating a second early warning instruction according to the smaller value, the first relative speed and the real-time vehicle speed, and early warning a driver of the vehicle so that the driver brakes according to the second early warning instruction.

In the embodiment of the present invention, as an optional embodiment, the method further includes:

In the embodiment of the present invention, as another optional embodiment, the method further includes:

after an early warning instruction is generated, monitoring that the driver does not brake according to the early warning instruction within the control time corresponding to the early warning instruction, and outputting the early warning instruction to the brake executing mechanism so that the brake executing mechanism brakes according to the early warning instruction, wherein the early warning instruction comprises a first early warning instruction and a second early warning instruction.

As shown in fig. 11, an embodiment of the present application provides a computer device 110 for executing the vehicle collision avoidance method in fig. 10, the device includes a memory 111, a processor 112 and a computer program stored on the memory 111 and operable on the processor 112, wherein the processor 112 implements the steps of the vehicle collision avoidance method when executing the computer program.

Specifically, the memory 111 and the processor 112 can be general-purpose memory and processor, which are not limited in particular, and the vehicle collision avoidance method can be performed when the processor 112 runs a computer program stored in the memory 111.

Corresponding to the vehicle collision avoidance method in fig. 10, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, performs the steps of the vehicle collision avoidance method described above.

Specifically, the storage medium can be a general-purpose storage medium, such as a removable disk, a hard disk, or the like, and the computer program on the storage medium can be executed to execute the above-described vehicle collision avoidance method when being executed.

In the embodiments provided in the present application, it should be understood that the disclosed system and method may be implemented in other ways. The above-described system embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and there may be other divisions in actual implementation, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of systems or units through some communication interfaces, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments provided in the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

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, and moreover, the terms "first", "second", "third", etc. are used merely to distinguish one description from another and are not to be construed as indicating or implying relative importance.

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

1. A vehicle collision avoidance apparatus, comprising: millimeter-wave radar, laser range finder, vehicle speed measuring instrument and electric control mechanism, wherein,

2. The vehicle collision avoidance apparatus according to claim 1,

3. The vehicle collision avoidance apparatus according to claim 2, wherein the electrical control mechanism is further configured to:

4. The vehicle collision avoidance apparatus according to claim 2, further comprising:

5. The vehicle collision avoidance apparatus according to any one of claims 1 to 4, wherein the millimeter wave radar includes: radar transceiver, modulation signal generator, difference frequency signal preprocessor, A/D converter, digital signal processor based on field programmable gate array, wherein,

6. The vehicle collision avoidance apparatus according to claim 5, wherein said millimeter wave radar further comprises:

7. The vehicle collision avoidance apparatus according to claim 5, wherein the modulation signal generator comprises: an oscillation integrated circuit, a first capacitor, a second capacitor, a third capacitor, a fourth capacitor, a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor, a sixth resistor, a seventh resistor, an eighth resistor, a ninth resistor, and a tenth resistor,

a third pin of the oscillation integrated circuit outputs triangular waves;

a second pin of the oscillation integrated circuit outputs a sine wave;

8. The vehicle collision avoidance apparatus according to claim 6, wherein said modulation signal adjuster comprises: an eleventh resistor, a twelfth resistor, a thirteenth resistor, a fourteenth resistor, a fifteenth resistor, a sixteenth resistor, a seventeenth resistor, an eighteenth resistor, a first op-amp, and a fifth capacitor,

the other end of the sixteenth resistor is grounded;

the other end of the seventeenth resistor is grounded;

9. The vehicle collision avoidance apparatus according to claim 5, wherein the difference frequency signal preprocessor comprises: the gain adjusting circuit is respectively connected with the second-order high-pass filter and the anti-aliasing filter.

10. The vehicle collision avoidance apparatus according to claim 9, wherein the second-order high-pass filter includes: a nineteenth resistor, a twentieth resistor, a twenty-first resistor, a twenty-second resistor, a twenty-third resistor, a twenty-fourth resistor, a twenty-fifth resistor, a twenty-sixth resistor, a twenty-seventh resistor, a sixth capacitor, a seventh capacitor, an eighth capacitor, a ninth capacitor, a tenth capacitor, a second operational amplifier and a third operational amplifier,

the other end of the twenty-seventh resistor is grounded;