WO2009082904A1 - Système de radar de navigation à faible vitesse intelligent - Google Patents

Système de radar de navigation à faible vitesse intelligent Download PDF

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Publication number
WO2009082904A1
WO2009082904A1 PCT/CN2008/073125 CN2008073125W WO2009082904A1 WO 2009082904 A1 WO2009082904 A1 WO 2009082904A1 CN 2008073125 W CN2008073125 W CN 2008073125W WO 2009082904 A1 WO2009082904 A1 WO 2009082904A1
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WO
WIPO (PCT)
Prior art keywords
steering
vehicle
module
alarm
radar system
Prior art date
Application number
PCT/CN2008/073125
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English (en)
Chinese (zh)
Inventor
Zilong Ling
Original Assignee
Zilong Ling
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zilong Ling filed Critical Zilong Ling
Publication of WO2009082904A1 publication Critical patent/WO2009082904A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93272—Sensor installation details in the back of the vehicles

Definitions

  • the invention belongs to a motor vehicle auxiliary navigation device, and more particularly to an intelligent low speed navigation radar system. Background technique
  • the radar probe has an ultrasonic probe and an optical probe.
  • the intensity of the output signal reflects the distance of the probe from the obstacle.
  • the signal of the ultrasonic probe is the time difference signal before the unprocessed signal also reflects the distance of the obstacle;
  • the distance state of the obstacle reflected by the signal strength is finally reflected to the driver by an audible alarm signal or an optical alarm signal or an image alarm signal.
  • Most of the existing reversing radar systems set a fixed corresponding alarm signal strength level for the radar probe signal strength at the rear.
  • FIG. 5 is a schematic diagram of a detection area corresponding to the signal strength of the fixed probe of the common reversing radar in the prior art, and an alarm area corresponding to the obstacle.
  • the area of the A stripe in the figure is a general alarm example.
  • the B-strip area is a rapid alarm;
  • FIG. 6 is a schematic diagram of an alarm signal corresponding to the signal strength of the fixed probe of the conventional reversing radar in the prior art, and an erroneous alarm for an obstacle that is not in the direction of reversing movement of the vehicle when the vehicle is turned to a certain degree of reversing.
  • the area of the A stripe is a general alarm example
  • the B stripe area is a rapid alarm;
  • the arrow 1 indicates the moving direction of the head,
  • the arrow 2 indicates the moving direction of the tail, and C indicates the obstacle.
  • the existing reversing radar system cannot correctly judge the obstacle situation of the vehicle that is in the low-speed traveling state, and cannot effectively guide the driver to avoid obstacles such as other vehicles and pedestrians around the vehicle body.
  • the present invention is directed to the deficiencies of the prior art, and proposes to accurately identify the positional relationship between the surrounding obstacles and the trajectory of the vehicle when the vehicle is in the state of reverse, parking, and low-speed driving, and provide the driver with various steering states. Whether there is accurate reference information of obstacles on the route of reversing or moving forward, and send accurate warning information.
  • the present invention also provides an alternative low speed navigation radar system based on the same innovative ideas that provides the driver with an adjusted steering state for optimal reverse or low speed travel routes.
  • An intelligent low-speed navigation radar system includes two or more radar probes, a microprocessor module, an alarm module, and a steering state information data interface disposed on a vehicle body, wherein the radar probe, the alarm module, and the steering shape
  • the state information data interface is respectively connected to the microprocessor module; the microprocessor module adjusts the level of the alarm signal corresponding to the signal of each radar probe according to the steering state information read from the steering state information data interface, and determines whether The alarm and alarm level are triggered and output to the alarm module.
  • the microprocessor module can adopt two program flows, one is: storing alarm signal adjustment information corresponding to various steering states of the vehicle in the module, and the alarm signal adjustment information is according to various types of the vehicle.
  • the steering trajectory corresponding to the steering state is generated, and is used for adjusting the alarm signal level of each radar probe corresponding to the triggering signal; the other is storing a program for calculating the corresponding alarm signal adjustment information according to various steering states in the module.
  • the alarm signal adjustment information is generated according to the trajectory of the travel corresponding to the various steering states of the vehicle, and is used for adjusting the level of the alarm signal corresponding to the trigger of the signal of each radar probe.
  • the intelligent low-speed navigation radar system of the present invention preferably further includes a steering angle sensor connected to the in-vehicle steering machine, the output information of which is connected to the state information data interface;
  • the intelligent low-speed navigation radar system of the present invention preferably further includes a vehicle operating state detecting module connected to the microprocessor module, the microprocessor module being read according to the data interface from the steering state information. Steering state information and driving state information acquired from the vehicle running state detecting module, adjusting the level of the alarm signal corresponding to the trigger signal of each radar probe, determining whether the alarm and the alarm level are triggered, and outputting the same to the alarm module; the vehicle running state detecting module Or it is the gear status information data interface, or the detection module for the backup light, or the vehicle speed detection module or the vehicle speed information data interface.
  • the intelligent low-speed navigation radar system of the present invention is preferably in a sleep state in a normal state, and the microprocessor module determines whether the vehicle running state enters a reverse state or a low speed state lower than a set speed through a vehicle running state detecting module, thereby determining whether Start or shut down the intelligent low speed navigation radar system.
  • each data interface can be a CAN bus data interface.
  • the intelligent low speed navigation radar system of the present invention preferably further comprises a graphic display module, the module being connected to the microprocessor module for outputting the steering state and the alarm signal adjusted by the microprocessor module according to the data read from the steering state information data interface The image generated by the information.
  • the present invention also provides another intelligent low-speed navigation radar system, comprising two or more radar probes disposed on a vehicle body, a microprocessor module, a steering state information data interface, and a steering direction indicating module, wherein The radar probe, the steering state information data interface and the rudder direction indicating module are respectively connected with the microprocessor module, and the microprocessor module determines the obstacle and the signal according to the vehicle body size and the signals collected from the respective radar probes.
  • the positional relationship between the vehicles, combined with the steering state information read through the steering state information data interface, indicates that the vehicle can avoid the rudder direction and the degree of steering of the obstacle.
  • the above-mentioned intelligent low-speed navigation radar system steering state information data interface can be a CAN bus data interface.
  • the invention has the following beneficial effects:
  • the invention greatly reduces the false alarm of the obstacles on the trajectory of the vehicle that is not caused by the fixed triggering alarm level of the existing parking radar when the vehicle is steering backward or forward.
  • the use of the invention allows the driver to follow the alarm signal in each steering state when going to reverse or slow forward. Judging the reasonable degree of steering greatly reduces the difficulty of driving in reverse or parking, and the function of the original parking radar system is improved from the simple obstacle warning function to the driving guidance system with the correct driving state indication function.
  • Embodiment 1 is a schematic structural view of Embodiment 1 of the intelligent low speed navigation radar system of the present invention.
  • Embodiment 2 is a schematic structural view of Embodiment 2 of the intelligent low speed navigation radar system of the present invention.
  • FIG. 3 is a schematic structural diagram of a smart low speed navigation radar system of the present invention including a steering angle recognition module.
  • Embodiment 4 is a software flow chart of Embodiment 1 of the intelligent low speed navigation radar system of the present invention.
  • Fig. 5 is a software flow chart of the embodiment 2 of the intelligent low-speed navigation radar system of the present invention (including the gear position identification information can be pre-warned both forward and backward during the parking process).
  • Figure 6 is a software flow diagram of the intelligent low speed navigation radar system of the present invention giving an indication of the steering direction.
  • Fig. 7 shows the alarm signal corresponding to the signal strength of the fixed probe of the ordinary parking sensor, and the corresponding obstacle detection area diagram.
  • the area of the A-strip is the general alarm example, and the B-strip area is the emergency alarm.
  • Fig. 8 is a schematic diagram of an alarm signal corresponding to the signal strength of a fixed probe of a conventional reversing radar.
  • the area of the A-strip in the figure is a general alarm example.
  • the B-striped area is a sudden alarm; the arrow 1 indicates the direction in which the head moves, the arrow 2 indicates the direction in which the tail moves, and C indicates the obstacle.
  • FIG. 9 is a schematic diagram of an alarm situation of an obstacle of the intelligent low-speed navigation radar system of the present invention, which is behind the vehicle body but not in the direction of moving the tail when the vehicle is reversing, wherein the area of the A-strip is a general alarm example, and the B-strip area is Emergency alarm; arrow 1 indicates the direction of movement of the front, arrow 2 indicates the direction of movement of the tail, and C indicates obstacle.
  • FIG. 10 is a schematic diagram of an alarm situation of an intelligent low-speed navigation radar system of the present invention for an obstacle that is on the rear side of the vehicle body but not in the direction of the rear of the vehicle when the vehicle is reversing, and the area of the A-strip in the figure is a general alarm example, B-stripes. The area is a sudden alarm; arrow 4 indicates the direction of the tail movement, and C indicates the obstacle.
  • FIG. 11 is a schematic diagram of an alarm situation of an intelligent low-speed navigation radar system including a front radar probe system for an obstacle on the right front side of the vehicle body but not in the moving direction of the vehicle head when the vehicle is steered forward, and the area of the A-strip is generally In the alarm case, the B-striped area is a sudden alarm; the arrow 3 indicates the direction of the tail movement, and C indicates the obstacle.
  • Figure 12 is a circuit diagram of a reed switch type steering angle sensor which can be selected in the present invention.
  • Figure 13 shows the electrical power of the ultrasonic sensor probe selected in the second embodiment of the intelligent low speed navigation radar system of the present invention. Road map.
  • Figure 14 is an ultrasonic ranging dedicated chip selected in Embodiment 2 of the intelligent low speed navigation radar system of the present invention. Ultrasonic distance measuring circuit diagram of GM31 01.
  • Figure 15 is a circuit diagram of a microprocessor module selected in Embodiment 2 of the intelligent low speed navigation radar system of the present invention.
  • the above Figures 12, 13, 14, and 15 can be connected to form a circuit diagram of the overall navigation system. detailed description
  • the intelligent low-speed navigation radar system of the embodiment is divided into two parts, one part is a multi-radar probe installed on the side of the vehicle or the side of the vehicle or in front of the vehicle, and a part is a control board installed in the vehicle, and is controlled.
  • the board includes a steering status information data interface, an acoustic or optical alarm module and a microcontroller module.
  • the embodiment is suitable for a vehicle that has integrated a steering angle sensor, and the microprocessor reads the steering state information of the vehicle through the steering state information data interface;
  • the sound or light alarm module mainly comprises a sounding device or a lighting device and a sounding device or a driving device of the lighting device
  • the circuit is controlled by the output information of the microprocessor module.
  • the radar probe, the steering status information data interface, and the alarm module are respectively connected to the microprocessor module.
  • the various radar sensors of the vehicle are designed to adjust the various steering conditions and driving conditions.
  • the signal corresponds to the level of the triggered sound or light alarm signal ("the level of the signal corresponding to the triggered sound or light alarm signal" hereinafter referred to as the trigger alarm level, the level includes the lowest level is not triggered alarm signal) adjustment information or according to various steering conditions and driving
  • the state calculates the algorithm for the adjustment information.
  • the so-called “adjustment” is to change the trigger alarm level according to certain rules.
  • the "signal" of a radar probe is a digital signal or an analog intensity signal, a frequency signal or a time difference signal, etc., which reflects the distance between the radar probe and an obstacle in its detection area.
  • the adjustment information of the trigger alarm level of each radar probe corresponding to various steering states and driving states of the corresponding model or the algorithm for calculating the adjustment information according to various steering states and driving states are stored in the microprocessor. Module.
  • the microprocessor module In use, when the reverse speed or parking is required, the low speed navigation system of the embodiment is turned on, the microprocessor module reads the steering state information in real time, and calculates or retrieves the trigger alarm level of each corresponding radar probe according to the steering state information.
  • the degree of adjustment of the trigger alarm level of a radar probe is the easiest to trigger the alarm (ie, the maximum detection area, the obstacle is triggered by a long distance), and the alarm cannot be triggered (ie, no signal triggers the alarm, or
  • the signal of the probe is read, zero detection area, which occurs when the detection range of the radar probe is not in the moving direction of the current state of the vehicle).
  • the microprocessor module also reads the information of each radar probe in real time, and combines the two kinds of information to determine the trigger alarm level of each radar probe to determine the level of the alarm signal (the lowest level is no alarm), and then according to the determined alarm signal level.
  • the control sound or light alarm module sends a corresponding level of audible or visual alarm signal (an alarm level is triggered by an alarm level triggered by the probe signal that triggers the highest alarm level).
  • the program flow chart of this embodiment is shown in Fig. 4.
  • Example 2 Example 2:
  • Embodiment 2 further improves the intelligent low speed navigation system of the present invention, and increases the judgment of the vehicle gear state information.
  • this embodiment adds a gear status information data interface to the microprocessor module.
  • the microprocessor module can acquire the running state of the vehicle, that is, whether the vehicle is currently in a forward or reverse state and whether it is in a low speed running state.
  • the various radar sensors of the vehicle are designed to adjust the various steering conditions and driving conditions.
  • the signal corresponds to the level of the triggered sound or light alarm signal ("the level of the signal corresponding to the triggered sound or light alarm signal" hereinafter referred to as the trigger alarm level, the level includes the lowest level is not triggered alarm signal) adjustment information or according to various steering conditions and driving
  • the state calculates the algorithm for the adjustment information.
  • the so-called “adjustment” is to change the trigger alarm level according to certain rules.
  • the "signal" of a radar probe is a digital signal or an analog intensity signal, a frequency signal or a time difference signal, etc., which reflects the distance between the radar probe and an obstacle in its detection area.
  • the adjustment information of the trigger alarm level of each radar probe corresponding to various steering states and driving states of the corresponding model or the algorithm for calculating the adjustment information according to various steering states and driving states are stored in the microprocessor. Module.
  • the microprocessor module reads the steering state information and the gear state information in real time, and calculates or retrieves the triggering alarm levels of the respective radar probes according to the steering state information and the gear state information, and triggers an alarm level for a certain radar probe.
  • the degree of adjustment is the easiest to trigger an alarm (ie, the maximum detection area, an obstacle is triggered at a long distance), and the alarm cannot be triggered (ie, no signal is triggered by any signal, or the signal of the probe is not read, zero detection area) This occurs when the detection range of the radar probe is not in the direction of movement of the vehicle in its current state).
  • the microprocessor module also reads information from each radar probe in real time.
  • the microprocessor combines the steering state information, the gear state information and the radar information to determine the trigger alarm level of each radar probe to determine the level of the alarm signal (the lowest level is no alarm), and then control the sound or light alarm according to the determined alarm signal level.
  • the module emits a corresponding level of audible or visual alarm signal.
  • the program flow of this embodiment is shown in FIG. 5.
  • the steering state information and the gear state information can be obtained by being connected to the in-vehicle device, for example, the gear state information data interface is connected to the transmission to obtain the traveling state of the vehicle.
  • the bus system of the car uses the CAN bus, so the data interface also uses the CAN bus data interface accordingly.
  • a steering state information recognition module that is, a steering angle sensor
  • the steering angle sensor can employ the following components: magnetic steel is mounted on the steering column and around the steering column Install the reed switch or Hall element.
  • the microprocessor module can obtain the steering angle of the vehicle by reading the switch state of the reed switch around the steering column or the Hall original through the steering status information data interface.
  • Fig. 3 is a structural block diagram showing an embodiment of the present invention for acquiring steering information using a steering state information recognition module mounted on a steering column.
  • Figure 12 is a circuit diagram of a steering angle sensor using a reed switch.
  • the intelligent low-speed navigation radar system of the embodiment can also activate or activate the radar system according to the gear state of the vehicle, and the microprocessor module is connected to the module capable of reading the gear state information on the vehicle through the gear state information data interface. If there is no data port on the vehicle that can read the gear position information, the gear position status information module may also be installed on the vehicle, and then the module is connected to the microprocessor module through the gear position status information data interface, the microprocessor module Determine whether to activate the intelligent low-speed navigation radar system by reading the status of the gear position information. For example, the intelligent low-speed navigation radar system can be started by whether it is in the reverse state; or it can be directly set in the first gear or the second gear or reverse gear. The intelligent low-speed navigation radar system is turned on (this is a range of gears for slow driving); at the same time, the gear position information also provides the driving status information of the vehicle, that is, forward or reverse driving.
  • the present invention can also not use the gear position information of the vehicle, specifically only the reverse gear information, because this information only needs to monitor the start state of the reverse light, it is easier to monitor, and whether the vehicle is in the forward state.
  • the information can be obtained by the monitoring of the reversing light and the monitoring of the speed information. If the vehicle has speed and the reversing light is not turned on, it can be judged that the vehicle is in the forward state, and if the vehicle speed exceeds a certain range, it can be judged that the vehicle is not in the position. Shut down the system at low speed.
  • the intelligent low-speed navigation radar system can also be activated or activated by manual activation, voice activation, and the like.
  • the so-called speed information refers to setting a vehicle speed state information data interface and a microprocessor module on the smart parking radar system of the present invention, the interface is connected with a vehicle speedometer circuit system, and the microprocessor module is based on the vehicle speed read from the interface.
  • the state determines whether the low speed navigation radar system is turned on, for example: When the vehicle speed is lower than 5 kilometers per hour, the low speed navigation radar system is turned on.
  • the steering state information data interface and the gear state information data interface may be directly disposed on the microprocessor module, that is, integrated in the microprocessor module.
  • the microprocessor module can also be integrated directly with other processor modules of the vehicle or share the core processor.
  • the low-speed navigation radar system of the present invention selects a widely used ultrasonic sensor as a radar probe (the signal also naturally selects the time difference signal of the ultrasonic sensor or the professional ultrasonic sensor to process the digital signal processed by the chip) .
  • the intelligent low-speed navigation radar system of the present invention should encourage installation of multiple radar probes around the vehicle, while storing various steering states and driving states of the vehicle in the microprocessor module (mainly referred to as forward and reverse states).
  • Corresponding adjustment information of the triggering alarm level of each radar probe or an algorithm for calculating the adjustment information according to various steering states and gear states, the algorithm is generated according to the driving trajectory corresponding to various steering states and driving states of the vehicle. of.
  • the intelligent low-speed navigation radar system can not only provide the driver with obstacle information existing in the moving direction of the vehicle when the vehicle is reversing, but also can reflect the obstacle information of the moving direction of the vehicle when the vehicle advances and reverses. It also avoids the more the number of radar probes in the prior art when multiple radar probes are installed in the vehicle, and the more false alarms caused by obstacles in the direction of vehicle movement.
  • the intelligent low-speed navigation radar system proposed by the present invention further includes a graphic display module, which can read or track the microprocessor module in real time according to the data from the steering state data interface, from the perspective of more intuitively reflecting the state of the surrounding obstacles when the vehicle is traveling at a low speed.
  • a graphic display module which can read or track the microprocessor module in real time according to the data from the steering state data interface, from the perspective of more intuitively reflecting the state of the surrounding obstacles when the vehicle is traveling at a low speed.
  • each radar probe or display the obstacle position detected by each radar probe according to the moving direction of each part of the vehicle body to the driver for viewing, which is beneficial for the driver to understand the obstacles in the moving direction of each part of the vehicle body and the various parts of the vehicle body in the current steering state.
  • the microprocessor of the present invention can obtain the feasibility of bypassing the current obstacle according to the signals of the respective radars combined with the displacement trend of the vehicle under various driving states.
  • this mode contains the steering state and driving state required to bypass the current obstacle.
  • the microprocessor reads the current reading from the steering status data interface or the gear status data interface or the speed data port or the backup light monitoring port.
  • the information of the steering state and the driving state of the vehicle is given by the sound and light alarm module to give a hint of the direction and degree of the steering direction or a hint of the gear shift, thereby achieving a pre-recommended function effect on the driving behavior of the driving, as shown in Fig. 6
  • the flow chart is shown.
  • the triggering of the signals of the respective radar probes in each steering state of the vehicle should be designed according to the information of the wheelbase, the wheelbase, the length of the vehicle, the width of the vehicle and the maximum steering angle of the vehicle. Alarm level.
  • the vehicle in which the intelligent low-speed navigation radar system of the present invention is installed in the embodiment has a steering state data communication interface, and the radar probe comprises two ultrasonic sensors disposed in the middle of the rear of the vehicle and two ultrasonic sensors disposed on both sides of the rear of the vehicle.
  • the core microprocessor of the microprocessor module uses C8051 F040 microcontroller (C8051 F040 microcontroller has integrated CAN bus port), and the ultrasonic ranging circuit part can use existing ultrasonic ranging special chip such as GM3101 or 555 timer circuit. Realization, alarm signal selection sound alarm is controlled by the microprocessor module.
  • the sound module in the car emits an audible alarm signal from the audio speaker inside the car.
  • the microprocessor connects to the steering status information data interface through the port and reads the steering status information.
  • the status information data interface is connected with the existing steering state data communication interface of the vehicle.
  • the gear status recognition interface on the microprocessor module reads that the vehicle is in the reverse state, the intelligent low speed navigation radar system starts, and the microprocessor passes the ⁇ Read steering status information, and
  • the trigger alarm level of each ultrasonic sensor in the steering state of the vehicle is taken or calculated, and the microprocessor module determines the level of the alarm signal according to the trigger state of the current state after reading the signals of the respective ultrasonic sensors, the lowest The level is not to send any alarm signal, the general level is to send a smooth " ⁇ ... ⁇ " sound, and the emergency alarm signal is to send a continuous and rapid " ⁇ " sound.
  • the vehicle uses the intelligent low-speed navigation radar system of the present invention, and the vehicle turns the steering wheel to the left side when reversing, and the reverse running trajectory of the vehicle determines that the front part of the vehicle is rightward.
  • the rear side movement is as indicated by the arrow 1
  • the left rear side of the tail of the vehicle moves as indicated by the arrow 2
  • the obstacle C is located in the rear of the rear of the vehicle, but the obstacle C is because the vehicle is traveling in the steering state. It does not hinder the reverse driving direction in the current steering state, and should not cause an alarm. (It is worth noting that the same position of the obstacle in the same steering state if the fixed intensity signal is used to trigger the alarm level.
  • the reversing radar system will cause false alarms).
  • the intelligent low-speed navigation radar of the present invention obtains the triggering alarm level of the signals of the respective low-speed navigation radars as shown in FIG. 9 according to the degree of steering of the vehicle and the information stored in the microprocessor module in advance, wherein the leftmost and left sides are
  • the second ultrasonic sensor is the level of the maximum alarm range, that is, the two ultrasonic sensors can trigger an alarm with a small signal
  • the third ultrasonic sensor on the left is adjusted to require a larger signal to trigger.
  • the alarm, and the rightmost ultrasonic sensor is adjusted to require a large signal to trigger an alarm. In this way, the area that can trigger the alarm signal is exactly the area where the tail movement trend points.
  • the driver can determine the safe and reasonable reversing parking steering degree according to the alarm signal of each steering degree by adjusting the steering degree, thereby making the most reasonable reversing parking direction and route.
  • FIG. 10 and Fig. 1 1 respectively show the state of the upright rearward reverse state of the intelligent low speed navigation radar system of the present invention, and the formation state of advancing to the left front. The reason is the same as the adjustment shown in Figure 9.
  • Figure 13 is a circuit diagram of an ultrasonic sensor probe selected in Embodiment 2 of the intelligent low speed navigation radar system of the present invention.
  • Figure 14 is an ultrasonic ranging dedicated chip selected in Embodiment 2 of the intelligent low speed navigation radar system of the present invention. Ultrasonic distance measuring circuit diagram of GM31 01.
  • Figure 15 is a circuit diagram of a microprocessor module selected in Embodiment 2 of the intelligent low speed navigation radar system of the present invention.
  • the above Figures 12, 13, 14, and 15 can be connected to form a circuit diagram of the overall navigation system.
  • the present invention belongs to a combined invention, and is an innovative invention created in the technical application, wherein the radar probe, the microprocessor module, the steering angle sensor, the gear state recognition module, and the sound are involved. Or optical alarm module, graphic display module, etc., belong to the prior art and have various forms and applications.
  • the detailed description of the preferred embodiments of the present invention, and the preferred embodiments of the present invention are intended to be construed as illustrative only. Variations in the details of the composition, construction, and use, including combinations and combinations of components, are intended to be within the scope of the invention.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Abstract

L'invention concerne un système de radar de navigation à faible vitesse intelligent qui comprend des sondes de radar sur la carrosserie du véhicule, un module de microprocesseur, un module d'avertissement sonore ou lumineux, une interface de données d'information d'état de virage et une interface de données d'état de roulement. La sonde de radar, le module d'avertissement sonore ou lumineux, l'interface de données d'information d'état de virage et l'interface de données d'état de roulement sont tous connectés au module de microprocesseur. Le module de microprocesseur ajuste en temps réel le niveau du signal sonore ou de l'avertissement lumineux qui est déclenché par le signal de chaque sonde de radar sur la base des informations d'état de virage lues à partir de l'interface de données d'état de virage.
PCT/CN2008/073125 2008-01-02 2008-11-20 Système de radar de navigation à faible vitesse intelligent WO2009082904A1 (fr)

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CN200820000113.1 2008-01-02
CN200820000113 2008-01-02

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CN107884765A (zh) * 2016-09-30 2018-04-06 华晨汽车集团控股有限公司 倒车雷达系统反应时间检测装置
CN110862279A (zh) * 2019-12-18 2020-03-06 华中农业大学 一种基于激光雷达导航的履带式无人驾驶有机肥翻抛机
CN112057242A (zh) * 2020-09-17 2020-12-11 广州医科大学附属第五医院 一种智能电动担架车
CN114312692A (zh) * 2021-11-12 2022-04-12 浙江零跑科技股份有限公司 一种基于泊车场景学习的汽车AutoHold智能启停方法
CN114407779A (zh) * 2022-02-28 2022-04-29 海丰县极电声学科技有限公司 汽车雷达障碍方向提醒系统

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CN101216561A (zh) * 2008-01-02 2008-07-09 凌子龙 自动倒车泊车雷达
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JPH0999792A (ja) * 1995-10-05 1997-04-15 Pacific Ind Co Ltd 車両後方監視警報装置
JP2003019937A (ja) * 2001-07-06 2003-01-21 Denso Corp 障害物検知装置
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Publication number Priority date Publication date Assignee Title
CN107884765A (zh) * 2016-09-30 2018-04-06 华晨汽车集团控股有限公司 倒车雷达系统反应时间检测装置
CN110862279A (zh) * 2019-12-18 2020-03-06 华中农业大学 一种基于激光雷达导航的履带式无人驾驶有机肥翻抛机
CN110862279B (zh) * 2019-12-18 2021-11-16 华中农业大学 一种基于激光雷达导航的履带式无人驾驶有机肥翻抛机
CN112057242A (zh) * 2020-09-17 2020-12-11 广州医科大学附属第五医院 一种智能电动担架车
CN114312692A (zh) * 2021-11-12 2022-04-12 浙江零跑科技股份有限公司 一种基于泊车场景学习的汽车AutoHold智能启停方法
CN114407779A (zh) * 2022-02-28 2022-04-29 海丰县极电声学科技有限公司 汽车雷达障碍方向提醒系统

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