1294844 . 九、發明說明： 【發明所屬之技術領域】 本發明係關於一種倒車雷達裝置及其方法，尤指一種 可防止車輛煞車時所產生的空氣干擾，以增加車輛在使用 倒車雷達裝置時之檢測準確性。 【先前技術】 曰倒車雷達裝置通常使用超音波感測器來檢測車輛後方 >=否有障礙物出現，該超音波感測器的基本原理是由倒車 田達虞置内控制電路以一定的頻率改變超音波感測器中壓 電陶究片兩端的電壓極性，使壓電陶瓷片產生振動，該振 動脈波會沿一定方向傳送，當端電壓極性變化的頻率到達 超曰波的頻段時（20kHz以上），則壓電陶竟片所產生之 咬動稱之為超日波’而超音波感測器便是將電信號轉換為 耷波並加以發送，且可將所接收到的聲波經訊號 換為電信號。 轉 • 使用超音波感測器判斷其脈波傳送的方向上是否有障 ^ 9方法，首先超音波感測器會先發出一超音波信號， 而後開始接收超音波的回波信號，若在其接收的超音波回 波信號中有_古把^ π ^ 士 口 同振巾田脈衝產生，則可得知有一障礙物，並 可引用务运超音波信號與接收到超音波回波信 幅脈衝之眭門¥ + ^ m f間差’來判斷障礙物與超音波感測器之間的距 離。 止然而，任何機械振動都存在其慣性，故當控制電路停 止產生超音波脈波信號時’壓電陶曼片仍不會馬上停止: 3 1294844 « 而經過一緩衝時間之 陶瓷片接收回波作妒 ；τ ，如第四圖所示，為壓電 點之間的時Η 電壓波形變化，其中，該〇點至“ 點之間的日寸間，即為上 ^ 號明顯高於環境值，田、、’ /夺間，由於Β點的回波信 舻，可由气管 而可斷定Β點為障礙物之反射信 號’可由6十异〇點到6點 車輛之間的距離。是以差’來付知〜礙物與 ^ Ψ ^ 1* n 用H 車雷達裝置即藉由判斷回 k礙物出現，以及車輛ip游札 衝，來决疋疋否有障 > / 早輛與p早礙物之間的距離。 對於採用油煞或液煞的車輛而士 倒車雷達裝置可正常工作 二:使用該上述方法的 而言，尤指大型車輛或巴士…:：採用氣煞方式的車輛 的*韻排 一 …、車時須先將煞車機構中 …… 在釋放時會發出高分貝之“噗” 耳”耳曰匕含了超音波高頻的部分，而+ t ^ , σο ^ 刀 而對倒車雷達裝詈 產生嚴重的干擾，如第五圖所示 立4 Θ、， 你為車輛氣煞時檢測起 曰波感測器的信號波形，由圖中 扣立、士一 i j知，車輛氣煞因為含有 “波㈣信號，而使得倒車雷達裝置接收到連 南振幅脈衝信號，若以上述倒車命 、 的 .Βϊ A J早田達裝置判斷障礙的方 式’則έ直接認定氣煞雜訊為車輛 ,.^, 近有障礙物出現，而 ί二以，目前一般倒車雷達裝置裝設在具有氣 :、的車輛上並無法避免氣煞干擾，而有誤警報的情形產 W由上述可知，一般適用於無氣煞車輛上的倒車雷達掌 置檢測方式並不適用在使用氣煞方式 " 赴4 ^ J車的車輛上，有必 要進一步改良克服此一低準確率的缺點。 4 1294844 【發明内容】 為此，本發明之主要目的係提供_種防止倒車雷 置中氣煞干擾之方法，使倒車雷$ 干田運忒置可以避免氣煞千 擾，進而提高倒車雷達的可靠性。 、τ 欲達到前述目的所使用的主要技術手段係令 於： 呔 在倒車雷達啟動後並接收該回波信號，若該回波 中無任何高振幅脈衝信號產生，則經一段時㈣，重 收回波信號；若該回波信號中右古 派T有同振幅脈衝波形產生， 須判斷該脈衝波形信號是否為一連 、 4曰 Θ 迷，長時間之信號波形， 右疋，則代表有氣煞的影響，須#往 ^ , a 曰 肩骄待一段時間之後， 才双測，若否，則代表有一隆淑从 , ^ ^礙物，可立即啟動警報裝置， 如此’本發明即能在回波作声 ^ ^ 虎中檢測出氣煞雜訊，避免漆 生誤警報’有效提高倒車雷 干田逐表置；^知障礙物的可靠性。 本發明次一目的係提# 一 車雷達梦署^^種/、有更佳檢測準確率的倒 从知土 的守間決定於駕駛人是否 啟動車輛氣煞功能，是以，本 弁利 I月係可在倒車雷達啟動後， 先d用赵音波感測器接收外 信號中曰m 士 兄的回波信號，判斷回波 1口現T疋否有長時間連續古 氣敍所# 、间振幅脈衝波形，若是，則為 ......斤&成之干擾雜訊，而再經一俨8士 „ & $ 4 在環it > m A &捋間後再重新接收外 杜衣i兄之回波信號，並進 , 上述起曰波檢測障礙物存在的 轾序，如此，本發明即能在 于牡’ 在的程序前，先判斷。 波檢測障礙物存 先判斷一次氣煞雜訊， 置檢測的準確性。 進而徒同倒車雷達裝 1294844 【實施方式] 本發明主要接彳址 ^ „ 仏一種防止氣煞干擾之倒車雷達 方法，使倒車雷；查壯 、置的 達衣置能防止車輛氣煞時所造成的嗜盤 報，以提升倒車雷達裝置的可靠度。 〜 例 百先明芩閱第—圖所示’本發明方法的 其包含有： 紅彳土貝施 啟動倒車雷達裝置（丨〇 ); /發射超音波脈衝（11)，於倒車雷達裝置啟動。 後直接發射超音波脈衝（1 1 ); ，接收並檢測回波信號（12)，係於發射超音波脈衝（ 後立即接收該回波信號（12 ); 判斷回波信號（12 )是否包含有高振幅脈衝信號（13 )， 此時，若經判斷後，無檢測到回波信號（丨2 )中有任何古 振幅脈衝信號，則延遲一段時間（14)後，重新開始 起音波脈衝（11);反之，則執行下一步驟；以及 、 判斷回波信號U2)中是否有長時間連續之高振幅脈 衝信號（15)波形，係對包含有高振幅脈衝回波信號判斷 是否存在一長時間連續之高振幅脈衝波形，若有，即判斯 有氣煞雜訊（1 6 )的產生，則延遲一段時間（14 )後（，勿 略氣煞雜訊），重新開始發射超音波脈衝之步驟（丨丨）“ 若否’則代表為障礙物所反射的回波信號，進而啟動馨報 系統（1 7 )發出警報聲，之後再延遲一段時間（i 4 )，、, 回到發射超音波脈衝步驟（1 1 )。 由於氣煞會對回波信號形成長時間及高振幅脈衝波 6 1294844 形，是以本發日3 u 月主要利用判斷回波信 高振幅脈彳Ik & # ^ ^疋否有長時間且 訊而不誤判4:物 氣煞雜訊’進而忽略該氣煞雜 報，確# 物’故能減少因氣煞干擾而產生的誤警 只倒車雷達裝置中警報系統（17)的準確度。 係於：二第二圖所示，為本發明方法另-較佳實施例， ;，卜田達裝置啟動（10)後及發射超音波脈衝（i) :ι〇行接收並檢測原始外在環境之超音波回波信號 士 ’再判斷接收到的回波信號（ι〇"是 =間之高振幅脈衝波形（㈣，若回波信號有連續 "間之③振幅脈衝波形，係判斷為有氣煞雜訊（叫 產生’待延遲一段時間（⑷後’重新執行此一步驟，以 =錄=確的外界環境波形；反之，則進人超音波障礙物檢 ’、权序的發射超音波脈衝步驟（1 1 )。 由此—實施例說明可知，係共包含二道氣煞雜訊的判 辦’分別在檢測及記錄外在環境波形以及超音波障礙物檢 測程序中。由於氣煞干擾發生時間不一定（端視駕駛人啟 動氣煞），不能排除在倒車雷達啟動後即有氣煞干擾的雜 Λ產生，故而增加一道氣煞雜訊檢測步驟，以提高檢測氣 煞雜訊的準確度’冑免倒車雷達裝置受氣煞干擾而有誤警 報產生。 又#芩照第三圖所示，係實施上述方法的倒車雷達裝 置之一較佳實施例，其包含有： 、一微處理器（2 1 )，係内建一可防止氣煞干擾之程 式，該微處理器係可外加一記憶單元（21〇)，其中該 7 1294844 記憶單元（2 1 〇 ) 的相關波形紀錄，ΰ ^ #外界環境波形、各種氣煞雜訊 之信號； 乂及經微處理器（2 1 )處理後所回傳 一超音波發射電 1)的輸出端； （”），係連接至該微處理器(2 射超音波脈衝； 路（2 ?彳M & Λ D ( 2 3 )，係連接至該超音波發射電 二，的輸出端，經由微處理器（21)的控制而發 一回波檢測電路f 9 、 / (2 Ί ^ ^ ^ ，係連接至該超音波感測器 i 端’經由微處理器（川的控制，用二 妾收並私測超音波回波信號； -A/D轉換電路（25) ^ ( Ο Λ \ '、連接至°亥回波檢測電 路（2 4 )的輸出端及 尾 ^ ^ Λ ΑΛ, J 1 )的輸入端，係1294844. </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> <RTIgt; Detection accuracy. [Prior Art] The reversing radar device usually uses an ultrasonic sensor to detect the rear of the vehicle.==No obstacles appear. The basic principle of the ultrasonic sensor is to have a certain control circuit by the reversing field. The frequency changes the polarity of the voltage across the piezoelectric ceramic film in the ultrasonic sensor, causing the piezoelectric ceramic piece to vibrate, and the vibrational arterial wave will be transmitted in a certain direction, when the frequency of the polarity change of the terminal voltage reaches the frequency band of the super-chopper wave (above 20 kHz), the bite generated by the piezoelectric ceramic film is called the super-day wave' and the ultrasonic sensor converts the electrical signal into chopping wave and transmits it, and the received sound wave can be received. The signal is changed to an electrical signal. Turn • Use the ultrasonic sensor to determine whether there is a barrier in the direction of pulse wave transmission. First, the ultrasonic sensor will first emit an ultrasonic signal, and then start receiving the echo signal of the ultrasonic wave. In the received ultrasonic echo signal, there is a pulse generated by the _^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ The door is ¥ + ^ mf difference' to determine the distance between the obstacle and the ultrasonic sensor. However, any mechanical vibration has its inertia, so when the control circuit stops generating the ultrasonic pulse signal, the piezoelectric piezoelectric film will not stop immediately: 3 1294844 « And the ceramic film receives the echo after a buffer time妒;τ, as shown in the fourth figure, is the time Η voltage waveform change between the piezoelectric points, wherein the 〇 point to “the day between the points, that is, the upper ^ is significantly higher than the environmental value, Tian,, ' / 夺 , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , Come to know ~ obstruction and ^ Ψ ^ 1* n Use the H car radar device to judge the return of the obstacles, and the vehicle ip tour, to determine whether there is a barrier > early morning and p The distance between objects. For vehicles with oil or liquid helium, the reversing radar device can work normally. 2: In terms of the above methods, especially large vehicles or buses...:: Vehicles with pneumatic means* Rhyme row one..., the car must first be in the brake mechanism... will be issued when released The high-decibel "噗" ear" earrings contain the high-frequency part of the ultrasonic wave, and the + t ^ , σο ^ knife causes serious interference to the reversing radar installation, as shown in the fifth figure, When you are angry with the vehicle, the signal waveform of the chopper sensor is detected. It is shown in the figure that the vehicle is stunned, and the vehicle is stunned because it contains the wave (four) signal, so that the reversing radar device receives the Liannan amplitude pulse signal. If the above-mentioned reversing life, ΒϊAJ Honda Tada equipment determines the obstacles, then έ directly identify the gas noise as the vehicle, .^, near obstacles appear, and ί二以, the current general reversing radar device It is known that the vehicle is equipped with gas: Method " On the vehicle of the 4^J car, it is necessary to further improve the shortcomings of overcoming this low accuracy. 4 1294844 [Inventive content] To this end, the main object of the present invention is to provide a kind of prevention of reversing thunder. Method of interference The reversing of the mine can prevent the disturbance and improve the reliability of the reversing radar. τ The main technical means used to achieve the above objectives are: 呔 After the reversing radar is started and receives the return Wave signal, if there is no high-amplitude pulse signal generated in the echo, the wave signal is reclaimed after a period of time (4); if the echo signal has the same amplitude pulse waveform generated in the echo signal, the pulse waveform signal must be judged Whether it is a series, 4 曰Θ fans, long-term signal waveform, right 疋, it means that there is a feeling of discouragement, must be # toward ^, a 曰 骄 骄 after a period of time, only double test, if not, then there is a Long Shu from, ^ ^ obstruction, can immediately start the alarm device, so 'the invention can detect the noise in the echo ^ ^ tiger, avoid the false alarm of the paint 'effectively improve the reversing Lei Qiantian table by table Set; know the reliability of obstacles. The second object of the present invention is a vehicle radar dreaming system, and a better detection accuracy is determined by whether the driver activates the vehicle's air function. After the reversing radar is started, the monthly system can use the Zhao Yinbo sensor to receive the echo signal of the 曰m 士 brother in the external signal, and judge whether the echo 1 is now T 疋 No long time continuous ancient gas narration # , Amplitude pulse waveform, if it is, it is ... kg & into interference noise, and then re-receive after a loop of 8 & m & m A & The echo signal of the outer Duyi i brother, and the above-mentioned chopping wave detection obstacles exist in the order, so that the present invention can be judged before the procedure of the oyster. The wave detection obstacles first determine the gas煞 , , 置 置 置 294 294 294 294 294 294 294 294 294 294 294 294 294 294 294 294 294 294 294 294 294 294 294 294 294 294 294 294 294 294 294 294 294 294 294 294 294 294 294 294 294 294 294 294 294 294 294 294 294 294 294 294 The clothing can prevent the vehicle from being discouraged when the vehicle is discouraged, so as to improve the parking radar device. Reliability. ~ Example The method of the present invention comprises: a red earth bucking start reversing radar device (丨〇); / transmitting an ultrasonic pulse (11), which is activated by a reversing radar device. After directly transmitting the ultrasonic pulse (1 1 ); receiving and detecting the echo signal (12), transmitting the ultrasonic pulse (receiving the echo signal immediately after the signal (12); determining whether the echo signal (12) contains The high-amplitude pulse signal (13), at this time, if there is no detected ancient amplitude pulse signal in the echo signal (丨2) after the judgment, the sound pulse is restarted after a delay (14). And vice versa; and determining whether there is a long-term continuous high-amplitude pulse signal (15) waveform in the echo signal U2), determining whether the high-amplitude pulse echo signal is present for a long time Continuous high-amplitude pulse waveform, if any, is judged to have the generation of gas noise (16), then delay after a period of time (14) (do not slightly aerated noise), restart the transmission of ultrasonic pulse Step (丨丨) “If no”, it represents the echo signal reflected by the obstacle, and then activates the alarm system (1 7 ) to sound an alarm, then delays for a while (i 4 ), and returns to the launch super Sonic pulse step (1 1 ). The air enthalpy will form a long-term and high-amplitude pulse wave 6 1294844 shape for the echo signal, which is mainly used to determine the echo signal amplitude pulse Ik &# ^ ^疋 for a long time. Without erroneously judging 4: the turbulence of noise and the ignorance of the rumor, and the fact that it can reduce the accuracy of the alarm system (17) in the reversing radar device due to gas interference. 2: FIG. 2 is a further preferred embodiment of the method of the present invention; after the start of the apparatus (10) and the transmission of the ultrasonic pulse (i): the iv line receives and detects the original external environment. The ultrasonic echo signal signal 're-judges the received echo signal (ι〇" is the high amplitude pulse waveform between (= (4), if the echo signal has a continuous " 3 amplitude pulse waveform, it is judged as There is gas noise (called to generate 'to wait for a period of time ((4) after 're-execute this step, to = record = the external environment waveform; otherwise, enter the ultrasonic obstacle check", the transmission of the order is super Sonic pulse step (1 1 ). From this description, it can be seen that the system includes two The judgment of the noise and noise is in the detection and recording of the external environmental waveform and the ultrasonic obstacle detection procedure. Since the occurrence of the air interference does not necessarily occur (the driver considers the driver to start the air), it cannot be excluded from the parking sensor. After that, there is a gas noise interference, so a gas noise detection step is added to improve the accuracy of detecting the noise of the gas. The reversing radar device is disturbed by the gas and the false alarm is generated. The third embodiment is a preferred embodiment of a parking radar device that implements the above method, and includes: a microprocessor (2 1 ) having a built-in program for preventing air interference, the microprocessor The device can be additionally provided with a memory unit (21〇), wherein the related waveform records of the 7 1294844 memory unit (2 1 〇), ΰ ^ # external environment waveform, various signals of noise and noise, and microprocessor ( 2 1) After the processing, the output of a supersonic transmitting power 1) is returned; (") is connected to the microprocessor (2 ultrasonic pulse; road (2 ? M & Λ D ( 2 3 ), connected to the ultrasonic emission Second, the output terminal sends an echo detection circuit f 9 , / (2 Ί ^ ^ ^ , connected to the ultrasonic sensor i end via the microprocessor (21) via the microprocessor ( Chuan's control, using two 妾 并 私 私 ; ; ;; -A / D conversion circuit (25) ^ ( Ο Λ \ ', connected to the output and end of the ° Hai echo detection circuit (2 4) ^ ^ Λ ΑΛ, J 1 ) input, system
將輸入的類比信號經由A # ^ , 0 ,, 付俠冤路（2 5 )轉換為微 處理'(21)可接收的數位信號；以及 —=報电路（2 6 ) ’係連接至該微處理器（2 的輸出端，由微處理器（23)控制該警報電路（26) 之啟閉動作。 2請配合第五圖及第六圖所示，該微處理器（ 二:::之方法，其先控制該超音波感測11 ( 2 3 )接收 外在〜回波信,虎，在無任何超音波信號輸出時，車輛 後方的障礙物並不會產生反射錢，在此情形下對超音波 感測& ( 2 3 )進行量測，會發現回波信號並無明顯之高 振幅脈衝波形，如第六圖所示。相反 1294844 號始：；在 (2 3)是否有發射信號，干擾信 二五Γ得超音波感測器（23)所接收到的回 ”ΓΓ ，會有一連續長時間之高振幅脈衝作 "生，因此，對倒車雷達裝置而言，貝丨I I、、έ i 出陸游私? AA 、丄 則無法正確的判斷 产妙而’信號’而降低了倒車雷達裝置的檢測準確 由前揭檢測氣煞雜訊的方法說明，本發明確實 ，略不發出警報，如此，本發明的倒車雷達；置即： 有效減少誤警報的發生率。 "p "b 明可知’本發明確t可以有效的 倒車雷達裝置中痛44 Μ + + 山平孕兩 、的存在，並可排除氣煞 置的影響，來提升倒車雷《置的檢„確度。達^ 【圖式簡單說明】 程圖 第-圖：係本發明防止車輛氣煞干擾方法之一 較佳流 第二圖··係本發明防止車輛氣煞 流程圖。 第三圖··係本發明實 干擾方法之另一較 佳 現防止車輛氣煞干擾方法 之一較 佳實施例電路方塊圖。 第四圖··係倒車雷達麥 凌置祆知有卩早礙物之波信號波形 圖 第五圖.係倒車雷^ 輛所檢 田這羞置於具有氣煞干擾之車 測的回波信號波形圖。 第六圖：係倒車雷達裝置 於無氣煞干擾及障礙物反射 1294844 時所檢知之回波信號波形圖。 【主要元件符號說明】 (2 1 )微處理器 （2 (2 2 )超音波發射電路（2 (2 4 )回波檢測電路 （2 (2 6 )警報電路 1 0 )記憶單元 3 )超音波感測器 5 ) A/D轉換電路Converting the input analog signal to A # ^ , 0 ,, Fu Xia Road (2 5 ) to micro-processing '(21) receivable digital signal; and —= reporting circuit (2 6 ) ' is connected to the micro At the output of the processor (2), the microprocessor (23) controls the opening and closing of the alarm circuit (26). 2 Please cooperate with the fifth and sixth figures to show the microprocessor (2::: The method first controls the ultrasonic sensing 11 (2 3 ) to receive the external ~ echo letter, the tiger, and in the absence of any ultrasonic signal output, the obstacle behind the vehicle does not generate reflected money, in this case Measuring the ultrasonic sensing & ( 2 3 ) will reveal that the echo signal has no obvious high-amplitude pulse waveform, as shown in Figure 6. In contrast to the beginning of 1294844: whether there is a transmission at (2 3) The signal, the interference signal, and the echo received by the ultrasonic sensor (23) will have a continuous high-amplitude pulse for a long time. Therefore, for the reversing radar device, Bellow II , έ i sneak out of the private? AA, 丄 can not correctly judge the production and the 'signal' and reduce the reversing radar device The method for detecting the accurate detection of the noise of the gas is described. The present invention does not issue an alarm slightly. Thus, the parking sensor of the present invention can effectively reduce the incidence of false alarms. "p "b 'The invention can be effective in the reversing radar device in the presence of pain 44 Μ + + mountain pregnancy, and can rule out the influence of the gas trap, to improve the reversing lightning "set the accuracy of the test. Da ^ [ simple Description: Fig. 1 is a flow chart of a method for preventing vehicle air smashing according to the present invention. Fig. 3 is a flow chart of the present invention for preventing vehicle suffocation. The third figure is another method of the present invention. A circuit block diagram of a preferred embodiment of a method for preventing vehicle noise interference. Fig. 4 is a diagram of a waveform of a wave signal of an early obstruction object. ^ The waveform of the echo signal of the car surveyed by the vehicle is placed on the echo signal of the vehicle with the air interference. Fig. 6: The waveform of the echo signal detected by the reversing radar device without air interference and obstacle reflection 1294844 [Main component symbol (2 1) Microprocessor (2 (2 2 ) ultrasonic transmitting circuit (2 (2 4 ) echo detecting circuit (2 (2 6 ) alarm circuit 1 0) memory unit 3) ultrasonic sensor 5 A/D conversion circuit
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