TWI734606B - Locomotive lamp with radar device - Google Patents

Abstract

A locomotive lamp with a radar device, which includes a lamp, and a radar device arranged in the lamp. The radar device includes: a driving element, a fixing seat that rotates driven by the driving element, and a fixing seat arranged on the fixing seat Motherboard. The main board is provided with an antenna, a first processing module, an angle sensing module and a second processing module. The antenna is used for detecting at least one obstacle distance and a position angle value, and the angle sensing module is used for Detect a current angle value. After the first processing module generates a warning message based on the obstacle distance, the second processing module calculates the position angle value, and after obtaining the current angle value from the angle sensing module, confirms and compares the position angle value and the current angle value An angle difference value, and then confirm whether the angle difference value is a difference between the current angle value and a correct angle value. If not, an adjustment parameter is sent to drive the driving element to turn the fixing base back to the correct angle value.

Description

Locomotive lamp with radar device

The invention relates to a radar for vehicles, in particular to a locomotive lamp with a radar device.

In order to improve driving safety and assist in detecting blind spots that are difficult to see by driving, the technology of vehicle radar devices is becoming more and more advanced, such as parking assist system (Parking Assist System, PAS), vehicle side blind spot detection assist system (Blind Spot Detection, BSD), Lane Change Alert (LCA), Door Open Warning (DOW), etc. Different vehicle auxiliary functions can preset different warning distances. If the radar detects that the distance between the obstacle and the vehicle is less than or equal to the preset warning distance, the radar device can send a warning message to warn the driver.

In addition to automobiles, radar devices must also be installed on locomotives. Especially for large and heavy locomotives, the driving speed is fast, and the curve depends on the body to lean through without significant slowing down. However, since the motorcyclist needs to concentrate on the road ahead, it is more difficult to get distracted from side obstacles and following the car behind. At this time, the vehicle auxiliary radar can provide the rear following car or car side blind spot detection auxiliary system to achieve the effect of multi-angle warning.

However, the radar device system must be vertical to the ground, and the antenna radiated wave is horizontally polarized, so that the emitted detection can accurately detect the obstacle distance. There is no doubt about this part on the car, but there will be problems on the locomotive. For example, because the locomotive may follow Lean on the vehicle body to pass through a curve. At this time, the antenna will be tilted regardless of whether it is fixed at the front or the rear of the vehicle, and the detection field of the antenna will be tilted. When the antenna field is tilted, it is easy to cause misjudgment, and the distance of the detected obstacle is no longer accurate.

Therefore, the present invention proposes a locomotive lamp with a radar device, which can maintain the antenna in a horizontal state to effectively solve the above-mentioned problems. The specific structure and implementation methods will be described in detail below:

The main purpose of the present invention is to provide a locomotive lamp with a radar device, which can keep the radar device system perpendicular to the ground and maintain the original state when the locomotive is tilted, so as to prevent the radar device system from tilting and causing obstacle detection misjudgment .

Another object of the present invention is to provide a locomotive lamp with a radar device, which can use a processing module to determine the difference with the correct angle value after obtaining the current tilt angle value, and calculate an adjustment parameter for the driving element. The axis of the driving element is rotated, and the radar device system arranged above the axis of the driving element will also drive the rotation to return to the normal position.

In order to achieve the above objective, the present invention provides a locomotive lamp with a radar device, including: a lamp; and a radar device, arranged in the lamp, for detecting the distance of an obstacle, the radar device including: a driving element; The fixing base is arranged on the driving element and is driven to rotate by the driving element; and a main board is arranged on the fixing base and includes a plurality of antennas, a first processing module, an angle sensing module, and a second processing module , The antenna is connected to the first and second processing modules, the first processing module and the angle sensing module are connected to the second processing module, the antenna is used to detect at least one obstacle distance and a position angle value, the angle The sensing module is used to detect a current angle value; among them, the first processing module The group generates a warning message to the second processing module based on the obstacle distance. The second processing module calculates the position angle value, and obtains the current angle value from the angle sensing module, confirms and compares the position angle value with the An angle difference value of the current angle value, and then confirm whether the angle difference value is a difference value between the current angle value and a correct angle value. If not, send an adjustment parameter to drive the drive element to turn the fixing base back to the correct angle Value, and perform obstacle detection and warning again.

According to an embodiment of the present invention, the antennas include at least one receiving antenna and at least two transmitting antennas. The transmitting antennas can respectively emit detection waves independently or together. The detection waves are reflected after colliding with an obstacle. And received by the receiving antenna.

According to an embodiment of the present invention, after the antennas respectively detect an obstacle, the reflected signal of the detection wave is transmitted to the first processing module through the at least one receiving antenna, and the first processing module is used to determine the The distance between the two obstacles detected by at least one receiving antenna. If the distance between the two obstacles exceeds an error value, the first processing module sends the warning message to the second processing module, and the second processing module The group obtains the current angle value from the angle sensing module to determine whether the lamp holder is inclined.

According to an embodiment of the present invention, the first processing module is arranged on a chip on the motherboard, and the second processing module is arranged on the motherboard or the chip.

According to an embodiment of the present invention, the lamp is composed of a lamp holder and a lamp housing to cover the driving element, the fixing base and the main board in the lamp.

According to an embodiment of the present invention, the lamp holder is further provided with at least one lighting element.

According to an embodiment of the present invention, the center of the driving element is provided with a rotating shaft, and one end of the rotating shaft is connected to the fixing base to rotate the fixing base and drive the main board to rotate synchronously.

On the other hand, according to the embodiment of the present invention, the shaft is a hollow tube, and the other end of the shaft is connected to a through hole on the lamp holder, so that a plurality of wires pass through the through hole on the lamp holder and pass through the hollow shaft After the driving element, it is connected with the main board.

According to an embodiment of the present invention, the first processing module is used to execute a vehicle assistance system. The second processing module is a microprocessor.

According to an embodiment of the present invention, the driving element is a servo motor or a stepping motor.

10: Locomotive lights with radar device

12: Lamp holder

122: Through hole

14: Lamp housing

16: drive components

162: fixed seat

164: Connection

166: Hinge

18: Motherboard

182: Chip

184: Antenna

20: Lighting components

Figure 1 is an exploded view of an embodiment of a locomotive lamp with a radar device according to the present invention.

Figure 2 is a perspective view of an embodiment of a locomotive lamp with a radar device according to the present invention.

Figure 3 is a side cross-sectional view of an embodiment of a locomotive lamp with a radar device according to the present invention.

Figure 4 is an enlarged schematic diagram of an embodiment of a chip in a locomotive lamp with a radar device according to the present invention.

Figure 5 is a circuit block diagram of a locomotive lamp with a radar device according to the present invention.

Figure 6 is a schematic diagram of a locomotive lamp with a radar device of the present invention maintaining a fixed angle when the lamp is rotating.

The present invention provides a locomotive lamp with a radar device. Regardless of whether the locomotive is tilted due to turning or other reasons, the lamp is no longer horizontal, but the radar device will still automatically rotate and return to the original horizontal position, so that the radar is detecting Obstacles will not cause misjudgment and generate false warning messages.

Please refer to Figure 1, Figure 2, and Figure 3 at the same time. Figure 1 is an exploded view of the locomotive lamp 10 with a radar device of the present invention, Figure 2 is a perspective view, and Figure 3 is a side cross-sectional view. The locomotive lamp 10 with a radar device includes a lamp and a radar device. The lamp is composed of a lamp holder 12 and a lamp housing 14. The lamp holder 12 is fixed on or embedded in the housing of the locomotive. middle. At least one lighting element 20, such as a single light-emitting diode, a light-emitting diode array, or a bulb, can be provided on the lamp socket 12. In this embodiment, two lighting elements 20 are provided on the lamp socket 12. The radar device includes a driving element 16, a fixing base 162 and a main board 18. In the embodiment of the present invention, the lamp is a rear vehicle light, and the radar device is used to detect the following distance of the vehicle behind.

A through hole 122 is provided in the center of the lamp holder 12, and a driving element 16 is provided on the lamp holder 12, and the driving element 16 can be a servo motor or a stepping motor. The rotating shaft 166 of the driving element 16 is arranged at the center of the driving element 16, and the diameter of the rotating shaft 166 is large enough to pass through the through hole 122. On the other hand, considering that if the wire is wrapped around the driving element 16, it may be knotted or broken due to the rotation of the driving element 16. Therefore, the shaft 166 of this embodiment is a hollow tube body for the main board 18 The wire passes through the shaft 166 and passes through the through hole 122 and then connects to the locomotive.

The fixing base 162 is arranged on the driving element 16 and is driven to rotate by it. Specifically, the fixing seat 162 is disposed on the rotating shaft 166 of the driving element 16. The driving element 16 is fixed to the lamp socket 12, and the rotating shaft 166 drives the fixing socket 162 to rotate. The fixing base 162 is connected to the main board 18 through a plurality of connecting portions 164. As shown in FIG. 3, one side of the main board 18 may be provided with a circuit, so it is not necessarily attached to the fixing base 162, but is connected and supported by the connecting portion 164. In this embodiment, the number of the connecting portions 164 is four, which are correspondingly disposed at the four corners of the fixing base 162.

For the structure and circuit of the main board 18, please refer to Figures 4 and 5 at the same time. Fig. 4 is an enlarged schematic diagram of the main board 18, and Fig. 5 is a circuit block diagram of the present invention. A chip is provided on the motherboard 18 182, antenna 184, first processing module 22, angle sensing module 186, and second processing module 24. The antenna 184 is connected to the chip 182 and connected to the first and second processing modules 22 and 24 thereon. The first processing module 22 and the angle sensing module 186 are signally connected to the second processing module 24. Wherein, the antenna 184 is used to detect obstacles, including detecting the distance of the obstacle and a position angle value between the obstacle and the locomotive. The antenna 184 includes a transmitting antenna and a receiving antenna. There are four receiving antennas and two transmitting antennas. The two transmitting antennas can emit detection waves independently or together. After the obstacle is reflected, a reflected wave is formed. The reflected wave is received by the receiving antenna, and then the signal is transmitted to the back end (the first processing module 22 in the present invention) to calculate the obstacle distance between the obstacle and the lamp. The position angle value is calculated by the second processing module 24 (ie, the microprocessor). If the present invention is applied to the rear lights of a locomotive, it is to detect the following distance of the following vehicle. If the detection range is large, the distance of obstacles on the side of the vehicle body can be further detected. When the wave of the antenna 184 detects When obstacles are too close, a warning message will be sent to the rider. The antenna 184 may be a patch antenna, a slot antenna, a horn antenna, a Yagi antenna or a dipole antenna, but it is not limited to this. The chip 182 may be provided with the first processing module 22 and the second processing module 24, but the second processing module 24 is not necessarily provided in the chip 182, and may be directly provided on the main board 18. A vehicle auxiliary system, such as an active safety system or an anti-collision system, is installed in the first processing module 22, and the first processing module 22 is used to execute the vehicle auxiliary system. The second processing module 24 is a microprocessor (MCU).

The angle sensing module 186 is a sensor that detects whether the vehicle light is tilted. In this embodiment, a gyroscope sensor (such as G-sensor or Gyro Meter) is used, which can detect the current tilt angle of the car light. If it is installed in the rear light, the tilt angle of the car light is equivalent to the locomotive body The angle value of the tilt. In addition, the gyroscope sensor can sense the angle of the three-dimensional space, so that the inclination angle of the locomotive when pressing the car in the curve Degree detection is more accurate. Any other sensor capable of detecting the tilt angle can also be used as the angle sensing module 186 of the present invention.

When the lamp holder 12 is tilted, the angle sensing module 186 will detect the current angle value and send it to the second processing module 24. After receiving the current angle value, the second processing module 24 calculates the difference between the current angle value and the correct angle value, and drives the driving element 16. The driving element 18 rotates the fixed base 162 by an angle (that is, the difference), and drives the antenna 184 provided on the fixed base 162 to synchronously rotate back to the correct angle position.

Furthermore, when the locomotive body is tilted, the detection wave emitted by the first processing module 22 will also change the field angle, especially if the angle of the locomotive passing through a curve is too large, the antenna radiation field on the radar device system The domain will also tilt, causing the detection wave to hit the ground and then bounce back. Because the ground distance is very close, the first processing module 22 is likely to misjudge that there is an obstacle at a short distance, and send out a warning message and display it on the dashboard of the locomotive. Therefore, in order to avoid misjudgment, when the two transmitting antennas of the antenna 182 emit detection signals, and the reflected signal of the detected obstacle is received by the receiving antenna, the first processing module 22 will take the reflected signal. Calculate the distance between the two obstacles and judge whether there is a drop in the distance between the two obstacles. If the first processing module 22 determines that the distance between the two obstacles has reached a certain error value or more, it will first send a warning message to the second processing module 24, and the second processing module 24 will also receive from the angle sensing module. Group 186 and antenna 184 have two antennas, which can know the distance and angle between the locomotive and the ground (i.e. obstacle), and provide it to the second processing module 24 to calculate a position angle value, and the angle sensing module 186 provides the current angle value to the second processing module 24. The second processing module 24 confirms and compares an angle difference between the position angle value and the current angle value. After the second processing module 24 obtains the angle difference value, it is confirmed whether it is the difference between the current angle value and the correct angle value. If not, it means that the vehicle body is tilted, and the angle of the antenna 184 must be adjusted. therefore, The second processing module 24 sends an adjustment parameter to the driving element 18, and the adjustment parameter includes the angle at which the shaft 166 of the driving element 18 should rotate. After receiving the adjustment parameters sent by the second processing module 24, the driving element 18 rotates the rotating shaft 166 to drive the fixing base 162 and the main board 18 to rotate synchronously, so as to restore the antenna 184 on the main board 18 to the correct angle. In this way, except for the very short time when the driving element 18 has not been activated just after the vehicle body is tilted, the antenna 184 on the radar device system will almost always remain in a vertical state with the ground, ensuring that the radar detection field remains horizontal.

On the other hand, if the first processing module 22 determines that the obstacle distance has reached a certain error value or more, it reminds the second processing module 24 to request the current angle value from the angle sensing module 186, and the second processing module 24 obtains After the current angle value, it is judged that the current angle value is the same as the correct angle, which means that the car body has no tilting problem. At this time, the first processing module 22 will send a warning message to the motorcyclist, such as displaying on the dashboard, making a sound, or on the dashboard A flashing light warns the rider that a vehicle is approaching from behind. These steps of transmission and reception, angle calculation, and control of driving components are all completed in a very short time and will not affect traffic safety.

Figure 6 is a schematic diagram of a locomotive lamp with a radar device of the present invention maintaining a fixed angle when the lamp is rotating. As shown in the figure, when the housing space of the vehicle lamp formed by the lamp holder 12 and the lamp housing 14 rotates as a whole, the fixing base 162 and the main board 18 are still at a fixed angle, so the antenna 184 on the main board 18 can also be kept fixed. Change the angle and automatically return to the center when the headlights are tilted.

In summary, a locomotive lamp with a radar device provided by the present invention uses a gyroscope sensor to detect the current tilt angle by sensing the angle of the three-dimensional space, and uses a driving element to rotate the antenna and return to It is perpendicular to the ground plane to keep the antenna's radiation field in a constant horizontal state, avoiding the situation that the radar will misjudge the distance of obstacles due to the tilt of the vehicle body when the locomotive is cornering.

Only the above are only preferred embodiments of the present invention and are not used to limit the scope of implementation of the present invention. Therefore, all equivalent changes or modifications made in accordance with the characteristics and spirit of the application scope of the present invention should be included in the patent application scope of the present invention.

10: Locomotive lights with radar device

12: Lamp holder

122: Through hole

14: Lamp housing

16: drive components

162: fixed seat

164: Connection

18: Motherboard

182: Chip

184: Antenna

20: Lighting components

Claims (11)

A locomotive lamp with a radar device includes: a lamp; and a radar device arranged in the lamp for detecting the distance of an obstacle. The radar device includes: a driving element; and a fixing seat. The driving element is driven to rotate by the driving element; and a main board is arranged on the fixing base and includes a plurality of antennas, a first processing module, an angle sensing module, and a second processing module , The antenna is connected to the first and second processing modules, the first processing module and the angle sensing module are connected to the second processing module, and the antenna is used to detect at least one obstacle distance and one Position angle value, the angle sensing module is used to detect a current angle value; wherein, the first processing module generates a warning message to the second processing module according to the obstacle distance, and the second processing module After calculating the position angle value, and obtaining the current angle value from the angle sensing module, confirm and compare the position angle value and the current angle value one of the angle difference values, and then confirm whether the angle difference value is the angle difference value A difference between the current angle value and a correct angle value. If not, an adjustment parameter is sent to drive the driving element to rotate, so that the fixing base rotates back to the correct angle value, and obstacle detection and warning are performed again. The locomotive lamp with a radar device according to claim 1, wherein the antennas include at least one transmitting antenna and at least one receiving antenna, and the at least one transmitting antenna emits a detection wave, and after the detection wave collides with an obstacle Reflected and received by the at least one receiving antenna. The locomotive lamp with a radar device according to claim 2, wherein after the antennas detect the obstacle respectively, the reflection signal of the detection wave is transmitted to the first processing module via the at least one receiving antenna, The first processing module is used to determine the distance between the two obstacles detected by the at least one receiving antenna. If the distance between the two obstacles exceeds an error value, the first processing module sends the warning message to the first A second processing module. The second processing module obtains the current angle value from the angle sensing module to determine whether the lamp holder is tilted. The locomotive lamp with a radar device according to claim 1, wherein the first processing module is arranged on a chip on the main board, and the second processing module is arranged on the main board or the chip. The locomotive lamp with a radar device according to claim 1, wherein the lamp is composed of a lamp holder and a lamp housing, so that the driving element, the fixing base and the main board are covered in the lamp. The locomotive lamp with a radar device according to claim 5, wherein the lamp holder is further provided with at least one lighting element. The locomotive lamp with radar device according to claim 1, wherein the center of the driving element is provided with a rotating shaft, and one end of the rotating shaft is connected to the fixing base to rotate the fixing base and drive the main board to rotate synchronously. The locomotive lamp with a radar device according to claim 7, wherein the shaft is a hollow tube, and the other end of the shaft is connected to a through hole of the lamp holder, so that a plurality of wires pass through the through hole on the lamp holder and pass through The hollow shaft passes through the driving element and is connected to the main board. The locomotive lamp with a radar device according to claim 1, wherein the first processing module is used to execute a vehicle auxiliary system. The locomotive lamp with a radar device according to claim 1, wherein the second processing module is a microprocessor. The locomotive lamp with a radar device according to claim 1, wherein the driving element is a servo motor or a stepping motor.

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