CN219891406U - Millimeter wave radar assembly and vehicle including the same - Google Patents
Millimeter wave radar assembly and vehicle including the same Download PDFInfo
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- CN219891406U CN219891406U CN202320175494.1U CN202320175494U CN219891406U CN 219891406 U CN219891406 U CN 219891406U CN 202320175494 U CN202320175494 U CN 202320175494U CN 219891406 U CN219891406 U CN 219891406U
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- 238000009434 installation Methods 0.000 claims abstract description 13
- 238000001514 detection method Methods 0.000 claims description 12
- 238000012545 processing Methods 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000011056 performance test Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007499 fusion processing Methods 0.000 description 1
- 238000012821 model calculation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Abstract
The present utility model relates to a millimeter wave radar assembly and a vehicle including the same. The millimeter wave radar assembly includes: the first millimeter wave radar and the second millimeter wave radar are installed at the front end of the vehicle in a mode of being separated by a certain distance in the horizontal direction, the first millimeter wave radar and the second millimeter wave radar are identical in installation direction, the first millimeter wave radar is located on the right side of the central axis of the vehicle, and the second millimeter wave radar is located on the left side of the central axis.
Description
Technical Field
The utility model relates to the technical field of vehicle driving, in particular to a millimeter wave radar assembly and a vehicle comprising the same.
Background
The millimeter wave radar is a sensor for measuring the distance, angle, speed and other signals of a target according to the time difference and phase difference between the receiving and transmitting of electromagnetic waves with a certain frequency and the receiving of the electromagnetic waves returned after meeting the target. In the auxiliary driving system and the automatic driving system, when the millimeter wave radar is applied to functions of collision early warning, emergency braking, automatic following of a vehicle for a medium and long distance, etc., the millimeter wave radar is generally installed at the front end of the vehicle.
However, in arranging the above millimeter wave radar, it is necessary to avoid the license plate region and to keep a certain distance from the region. In addition, when other sensors are also arranged at the front end of the vehicle, in order to prevent the transmission and reception of the radar beam from being affected by the outside, it is also necessary to space the millimeter wave radar from the other sensors by a certain interval. Because of these limitations, there is a challenge to arrange a single millimeter wave radar at an intermediate position of the front end of the vehicle.
In addition, in the detection performance of the millimeter wave radar, problems such as target loss, target splitting and the like occasionally occur, thereby causing a certain risk to the driving of the vehicle.
Disclosure of Invention
The present utility model has been made to solve the above-described problems, and an object thereof is to provide a millimeter wave radar assembly and a vehicle including the same, which can make the arrangement of millimeter wave radars more flexible and improve the robustness of radar target output.
According to one aspect of the present utility model, there is provided a millimeter wave radar assembly comprising: the first millimeter wave radar and the second millimeter wave radar are installed at the front end of the vehicle in a mode of being separated by a certain distance in the horizontal direction, the first millimeter wave radar and the second millimeter wave radar are identical in installation direction, the first millimeter wave radar is located on the right side of the central axis of the vehicle, and the second millimeter wave radar is located on the left side of the central axis.
Preferably, the installation ground clearance of the first millimeter wave radar is H1, and H1 is 295-1000 mm; the installation ground clearance of the second millimeter wave radar is H2, and H2 is 295-1000 mm.
Preferably, if the intersection point of the central axis of the vehicle and the road surface is taken as an origin, the right side of the central axis is taken as a positive direction, and the left side of the central axis is taken as a negative direction, the horizontal position of the first millimeter wave radar is L1, L1 is 50-600 mm, and the horizontal position of the second millimeter wave radar is L2, L2 is-50-600 mm.
According to another aspect of the present utility model, there is provided a vehicle including: the millimeter wave radar assembly described above; and a control module.
Preferably, a first millimeter wave radar of the millimeter wave radar assembly is connected with the control module through a first CAN bus; and a second millimeter wave radar of the millimeter wave radar assembly is connected with the control module through a second CAN bus.
Preferably, the first millimeter wave radar and the second millimeter wave radar respectively and independently send detection result information to the control module.
Preferably, the detection result information includes the following target attributes: the cross-longitudinal position of the target, the speed of the target, the acceleration of the target, the target angle, the target confidence, the radar cross section, the obstacle probability.
Preferably, the control module uses the confidence level of the targets detected by the first millimeter wave radar and the second millimeter wave radar as a main weight factor, and performs weight processing on the target attributes detected by the first millimeter wave radar and the second millimeter wave radar.
According to the millimeter wave radar group provided by the utility model, the arrangement of the millimeter wave radar is more flexible, and the robustness of radar target output is improved.
Drawings
Fig. 1 is a schematic view of a vehicle mounted with a millimeter wave radar assembly provided by the present utility model.
Fig. 2 is a schematic diagram of an installation position of a millimeter wave radar assembly provided by the present utility model.
Detailed Description
The present utility model will be described in further detail with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the utility model and are not limiting of the utility model. It should be noted that, for convenience of description, only a portion related to the present utility model is shown in the drawings.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
Embodiments described herein may be described with reference to plan and/or cross-sectional views with the aid of idealized schematic diagrams of the present disclosure. Accordingly, the example illustrations may be modified in accordance with manufacturing techniques and/or tolerances. Thus, the embodiments are not limited to the embodiments shown in the drawings, but include modifications of the configuration formed based on the manufacturing process. Thus, the regions illustrated in the figures have schematic properties and the shapes of the regions illustrated in the figures illustrate the particular shapes of the regions of the elements, but are not intended to be limiting.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and the present disclosure, and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Fig. 1 is a schematic view of a vehicle 1 mounted with a millimeter wave radar assembly 10 provided by the present utility model.
As shown in fig. 1, a vehicle 1 provided by the present utility model includes: a millimeter wave radar assembly 10; and a control module 20.
Wherein millimeter wave radar assembly 10 comprises: the first millimeter wave radar 110 and the second millimeter wave radar 120 are mounted at the front end of the vehicle 1 in such a manner that the first millimeter wave radar 110 and the second millimeter wave radar 120 are spaced apart from each other by a certain distance in the horizontal direction, and the mounting directions of the first millimeter wave radar 110 and the second millimeter wave radar 120 are the same, the first millimeter wave radar 110 is located on the right side of the center axis C of the vehicle 1, and the second millimeter wave radar 120 is located on the left side of the center axis C. Here, the center axis C of the vehicle 1 refers to the center axis in the vehicle front-rear direction.
In addition, the first millimeter wave radar 110 and the second millimeter wave radar 120 are two independent millimeter wave radars, and the first millimeter wave radar 110 and the second millimeter wave radar 120 are connected to the control module 20 through respective independent CAN buses. As shown in fig. 1, the first millimeter wave radar 110 of the millimeter wave radar assembly 10 is connected to the control module 20 through the first CAN bus 30, and the second millimeter wave radar 120 is connected to the control module 20 through the second CAN bus 40.
The first millimeter wave radar 110 and the second millimeter wave radar 120 individually transmit detection result information to the control module 20 through the independent first CAN bus 30 and the second CAN bus 40.
The control module 20 receives and processes the detection result information of the first millimeter wave radar 110 and the second millimeter wave radar 120 to determine whether an obstacle exists in front of the vehicle 1, and generates a control signal to control the vehicle 1 according to the determination result. The control module 20 may be a stand-alone controller or may be integrated with other controllers.
Further, the detection result information detected by the radar wave includes: the first millimeter wave radar 110 and the second millimeter wave radar 120 are arranged under the same vehicle coordinate system, so that the same object ID detected by the first millimeter wave radar 110 and the second millimeter wave radar 120 can be further fused. For example, the target attributes detected by the first millimeter wave radar 110 and the second millimeter wave radar 120 may be respectively weighted by using the confidence levels of the targets detected by the first millimeter wave radar 110 and the second millimeter wave radar 120 as main weighting factors. For example, since the detection accuracy of the target angle is relatively poor in the radar FOV boundary region with respect to the target angle, the target angle information output from the radar closer to the target can be used as the information of the target angle with high confidence, and the target information with higher accuracy after the fusion processing can be finally output by the environment model calculation processing.
Fig. 2 is a schematic diagram of the installation location of millimeter wave radar assembly 10 provided by the present utility model. In fig. 2, the road ground is taken as the X axis, the central axis C of the vehicle 1 is taken as the Y axis, so that the intersection point of the central axis C of the vehicle 1 and the road ground is taken as the origin O, the right side of the central axis of the vehicle 1 is taken as the positive direction of the X axis, and the left side of the central axis of the vehicle 1 is taken as the negative direction of the X axis.
In fig. 2, the range shown by the rectangular frame a is the range of the mounting position of the first millimeter wave radar 110, and the range shown by the rectangular frame B is the range of the mounting position of the second millimeter wave radar 120.
That is, the installation height of the first millimeter wave radar 110 is H1, H1 is 295 to 1000mm, and the installation height of the second millimeter wave radar 120 is H2, H2 is 295 to 1000mm. The performance test shows that the installation ground clearance of the first millimeter wave radar 110 is 295-1000 mm, and the installation ground clearance of the second millimeter wave radar 120 is 295-1000 mm, so that the detection of the first millimeter wave radar 110 and the second millimeter wave radar 120 with high reliability and good stability is facilitated.
In addition, in the coordinate system shown in fig. 2, the horizontal position of the first millimeter wave radar 110 is L1, L1 is 50 to 600mm, the horizontal position of the second millimeter wave radar 120 is L2, and L2 is-50 to-600 mm. The performance test shows that in the coordinate system shown in fig. 2, the horizontal position of the first millimeter wave radar 110 is set to be 50-600 mm, and the horizontal position of the second millimeter wave radar 120 is set to be-50-600 mm, so that the detection of the first millimeter wave radar 110 and the second millimeter wave radar 120 with high reliability and good stability is facilitated.
By arranging the millimeter wave radar component provided by the utility model on the vehicle, the license plate of the vehicle and other sensors needing to be arranged in the middle can be well avoided, and the millimeter wave radar component is more flexible in space layout and more friendly in design.
In addition, by fusing the target information of the two millimeter wave radars, the reliability and stability of target detection can be improved, and the robustness can be improved. Meanwhile, even if one millimeter wave radar fails, the other millimeter wave radar can work normally, and the effect of redundancy is achieved.
Those of skill in the art will appreciate that the modules, elements, and method steps of a respective example described in connection with the embodiments disclosed herein may be preceded by electronic hardware, computer software, or a combination of both, and that the constituent elements and steps of the respective example have been generally described functionally in the foregoing description in order to clearly illustrate the interchangeability of electronic hardware and software. Whether such functionality is implemented as electronic hardware or software depends upon the particular application and design constraints imposed on the solution. Those skilled in the art may implement the described functionality using different approaches for each particular application, but such implementation is not to be considered as outside the scope of the present utility model.
Although the present utility model has been described with reference to the present specific embodiment, it should be appreciated by those skilled in the art that the scope of the utility model is not limited to the specific combination of the above technical features, but encompasses other technical features formed by any combination of the above technical features or their equivalents without departing from the spirit of the utility model. Such as the above-mentioned features and the technical features disclosed in the present utility model (but not limited to) having similar functions are replaced with each other.
Claims (8)
1. A millimeter wave radar assembly, comprising: the first millimeter wave radar and the second millimeter wave radar are installed at the front end of the vehicle in a mode of being separated by a certain distance in the horizontal direction, the first millimeter wave radar and the second millimeter wave radar are identical in installation direction, the first millimeter wave radar is located on the right side of the central axis of the vehicle, and the second millimeter wave radar is located on the left side of the central axis.
2. The millimeter wave radar assembly of claim 1 wherein,
the installation ground clearance of the first millimeter wave radar is H1, and H1 is 295-1000 mm;
the installation ground clearance of the second millimeter wave radar is H2, and H2 is 295-1000 mm.
3. The millimeter wave radar assembly of claim 1 or 2 wherein,
if the intersection point of the central axis of the vehicle and the road surface is taken as an origin, the right side of the central axis is taken as a positive direction, and the left side of the central axis is taken as a negative direction, the horizontal position of the first millimeter wave radar is L1, L1 is 50-600 mm, the horizontal position of the second millimeter wave radar is L2, and L2 is-50 to-600 mm.
4. A vehicle, characterized by comprising:
a millimeter wave radar assembly as recited in any one of claims 1-3; and
and a control module.
5. The vehicle of claim 4, wherein,
the first millimeter wave radar of the millimeter wave radar assembly is connected with the control module through a first CAN bus;
and a second millimeter wave radar of the millimeter wave radar assembly is connected with the control module through a second CAN bus.
6. The vehicle of claim 4 or 5, wherein,
the first millimeter wave radar and the second millimeter wave radar respectively and independently send detection result information to the control module.
7. The vehicle of claim 6, wherein,
the detection result information comprises the following target attributes:
the cross-longitudinal position of the target, the speed of the target, the acceleration of the target, the target angle, the target confidence, the radar cross section, the obstacle probability.
8. The vehicle of claim 7, wherein,
and the control module takes the confidence level of the targets detected by the first millimeter wave radar and the second millimeter wave radar as a main weight factor, and respectively carries out weight processing on the target attributes detected by the first millimeter wave radar and the second millimeter wave radar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320175494.1U CN219891406U (en) | 2023-02-03 | 2023-02-03 | Millimeter wave radar assembly and vehicle including the same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320175494.1U CN219891406U (en) | 2023-02-03 | 2023-02-03 | Millimeter wave radar assembly and vehicle including the same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219891406U true CN219891406U (en) | 2023-10-24 |
Family
ID=88395370
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320175494.1U Active CN219891406U (en) | 2023-02-03 | 2023-02-03 | Millimeter wave radar assembly and vehicle including the same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219891406U (en) |
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2023
- 2023-02-03 CN CN202320175494.1U patent/CN219891406U/en active Active
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