WO2018177123A1 - 一种无主机泊车雷达系统 - Google Patents

一种无主机泊车雷达系统 Download PDF

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Publication number
WO2018177123A1
WO2018177123A1 PCT/CN2018/079057 CN2018079057W WO2018177123A1 WO 2018177123 A1 WO2018177123 A1 WO 2018177123A1 CN 2018079057 W CN2018079057 W CN 2018079057W WO 2018177123 A1 WO2018177123 A1 WO 2018177123A1
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WO
WIPO (PCT)
Prior art keywords
module
digital pulse
ultrasonic
sensor
radar system
Prior art date
Application number
PCT/CN2018/079057
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English (en)
French (fr)
Inventor
李新生
陈武强
Original Assignee
厦门澳仕达电子有限公司
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Application filed by 厦门澳仕达电子有限公司 filed Critical 厦门澳仕达电子有限公司
Priority to EP18774813.2A priority Critical patent/EP3605146A4/en
Priority to US16/498,236 priority patent/US20210103053A1/en
Publication of WO2018177123A1 publication Critical patent/WO2018177123A1/zh

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    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • G01S15/10—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/46—Indirect determination of position data
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/46—Indirect determination of position data
    • G01S2015/465—Indirect determination of position data by Trilateration, i.e. two transducers determine separately the distance to a target, whereby with the knowledge of the baseline length, i.e. the distance between the transducers, the position data of the target is determined
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details
    • G01S2015/938—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details in the bumper area

Definitions

  • the invention relates to an automobile parking radar system, in particular to a hostless parking radar system.
  • a conventional parking radar system also known as a parking radar system, generally includes a host 81, a plurality of sensors 82 (also commonly referred to as probes), and at least one alarm 83, and the plurality of sensors 82 are respectively associated with the host.
  • 81 is connected and coordinated under the control of the host 81.
  • Each sensor 82 detects an obstacle and obtains data and transmits it to the host 81.
  • the host 81 analyzes the data and determines the obstacle distance. When the actual distance is close to the alarm prompt condition
  • the host 81 drives the buzzer alarm 83 to give an audible alarm.
  • the main body 81 is installed in the automobile body, and the plurality of sensors 82 are disposed on the front and rear car bumpers of the automobile, and the sensors are disposed at a certain distance, thereby causing the sensor 82 and the host 81 to be Inter-signal transmission and power feeding are complicated, which not only increases the cost of the wiring harness and the host 81, but also the excessively long data lines are susceptible to interference.
  • a hostless parking radar system has been developed, the announcement number is CN1892249A, and there is no host parking sensor system, as shown in FIG. 2, which includes a main sensor 91 and one or more slave sensing.
  • the main sensor 91 has an obstacle detecting function and cooperatively controls and communicates with the working timing of each of the slave sensors 92, which cancels the setting of the host, thereby eliminating the influence of the host.
  • the main sensor 91 and the slave sensor 92 are both disposed on the bumper, the entire radar system can shorten the length of the connecting line.
  • the announcement number is CN102129076A, a serial-free hostless parking radar system.
  • the system has a plurality of sensors 71, and the first terminals of each sensor pass through the internal network 72 and the sense of proximity.
  • the second terminals of the detector are connected to form a series structure, and information transfer between the respective sensors 71 is achieved.
  • Each of the sensors 71 includes a CPU module (microprocessor), a communication module, an ultrasonic sensor, a drive transmitting module, and an ultrasonic receiving module.
  • the main advantages of this scheme are as follows: 1.
  • the reaction speed of the system is improved.
  • the system can realize the triangulation measurement and calculation functions.
  • the bulletin number is CN103592649A, an integrated parking radar system.
  • the system includes a main sensor 50 and at least one slave sensor 60.
  • the main sensor 50 includes a CPU module 51, a first ultrasonic sensor 52, a main drive module 53, a main amplifier module 54, and at least one slave drive module, the CPU module has an A/D conversion module built therein, and the CPU module 51 drives the first ultrasonic sensor 52 through the main drive module 53, the first ultrasonic sensor 52 passes The main amplification module 54 amplifies and transmits the reflected analog signal to the A/D conversion module of the CPU module 51.
  • Each slave sensor 60 is an analog sensor (analog probe) without a CPU, and the master sensor CPU module drives a slave sensor 60 through a slave drive module, and each slave sensor 60 The reflected analog signal is amplified and sent to the A/D conversion module of the main sensor CPU module. Since each slave sensor is an analog sensor, this system has a significant cost advantage over a digital sensor with a CPU (digital probe).
  • the bulletin number 71 is the main sensor 91 in the CN1892249A hostless reversing radar system, the slave sensor 92, and the sensor 71 in the hostless parking radar system of the serial number CN102129076A, each of which Each sensor contains a CPU module (microprocessor), so the system cost is high.
  • the integrated parking radar system with the announcement number CN103592649A although the slave sensors are analog sensors, thus reducing the cost of the system, but because the signals transmitted by the slave sensors are analog signals, non-digital pulse signals Or digital signal, the analog signal is easily interfered when transmitted on the wire, especially when the system is provided with sensors on the front and rear bumpers of the car, the main sensor and some subordinate sensors are from the front to the car.
  • the CPU module A/D module is used to process the analog signals collected by each sensor, the following problems exist: First, because the processing efficiency of the A/D module is low, it is not convenient for the system to realize the triangulation measurement and calculation function; Because the CPU with multiple A/D modules needs to be selected, the cost of the selected CPU is too high, resulting in high cost of the main sensor.
  • the object of the present invention is to provide a hostless parking radar system with improved structure, low cost, more reliable and stable operation, and high efficiency.
  • a hostless parking radar system of the present invention includes a main sensor and a plurality of slave sensors arranged in parallel, wherein
  • the main sensor includes a CPU module 12, a first digital pulse module 14, a first ultrasonic unit, and a plurality of digital pulse transmission modules arranged in parallel;
  • the slave sensor 20 includes a second digital pulse module 24 and a second ultrasonic unit;
  • the plurality of digital pulse transmission modules are respectively bidirectionally transmitted and communicated with the first digital pulse module 14 and the second digital pulse module 24; the CPU module 12 transmits the digital pulse signals to the first digital pulse module 14 and the plurality of digital pulse transmission modules respectively.
  • the second digital pulse module 24 is input by the first digital pulse module 14 to the first ultrasonic unit, and the second digital pulse module 24 is input to the second ultrasonic unit;
  • the analog signals of the first ultrasonic unit and the second ultrasonic unit are respectively converted into a return digital pulse signal by the first digital pulse module 14 and the second digital pulse module 24, and input into the CPU module via the corresponding digital pulse transmission module, and then
  • the CPU module 12 calculates the distance measurement results of the main sensor 10, the plurality of slave sensors, and the corresponding measured object, respectively.
  • a CCP module is disposed in the CPU module, and a digital pulse signal is sent out by a certain pin of the CCP module.
  • the return digital pulse signal is input to the corresponding pin of the CCP module, it is transmitted to the CPU module.
  • the main sensor is provided with a detection control and communication module 18, and the detection control and communication module 18 is externally connected to a switch and a switch indicator of the parking radar system.
  • a LIN/CAN bus communication interface module is disposed in the detection control and communication module 18 to implement communication between the radar system and the vehicle bus module.
  • the detection control and communication module 18 is directly connected with a buzzer, and can drive the buzzer to perform an audible alarm prompt.
  • the main sensor 10 is disposed on a rear bumper of a car.
  • the first ultrasonic unit includes a first ultrasonic transmitting module 15, a first ultrasonic sensor 16, and a first ultrasonic receiving module 17.
  • the first ultrasonic transmission module 15 is input, and the first ultrasonic transmission module 15 boosts the signal. After amplification, the first ultrasonic sensor 16 is driven to operate.
  • the first ultrasonic sensor 16 transmits ultrasonic waves
  • the first ultrasonic receiving module 17 receives and amplifies an analog signal reflected by the object, and the amplified analog signal is input to the first digital pulse module 14 and converted into a Return the digital pulse signal.
  • the second ultrasonic unit includes a second ultrasonic transmitting module 25, a second ultrasonic sensor 26, and a second ultrasonic receiving module 27.
  • the digital pulse signal is input to the second ultrasonic transmitting module 25 after being simply amplified by the digital pulse transmitting module and the second digital pulse module 24, and the second ultrasonic transmitting module 25 is boosted and amplified. Driving the second ultrasonic sensor 26 to operate.
  • the second ultrasonic sensor 26 emits ultrasonic waves
  • the second ultrasonic receiving module 27 receives and amplifies the analog signal reflected by the object, and the amplified analog signal is input to the second digital pulse module 24 and converted into a Return the digital pulse signal.
  • a power module is disposed in the main sensor and a plurality of the slave sensors.
  • the main sensor is provided with a CPU module, but each of the slave sensors has no CPU module, thereby greatly reducing the cost of the system.
  • the digital sensor is used for communication between the main sensor and each slave sensor, and the system works more reliably and stably.
  • Figure 1 is a block diagram showing the structure of a conventional host parking radar
  • FIG. 2 is a block diagram showing the structure of a hostless parking radar
  • Figure 3 is a block diagram showing the structure of a hostless parking radar
  • Figure 4 is a block diagram showing the internal structure of a hostless parking radar
  • FIG. 5 is a block diagram showing the internal structure of the hostless parking radar of the present invention.
  • Figure 6 is an internal electrical schematic diagram of the power module
  • FIG. 7 is an internal electrical schematic diagram of the CPU module
  • Figure 8 is an internal electrical schematic diagram of a digital pulse transmission module
  • Figure 9 is an internal electrical schematic diagram of the detection control and communication module
  • 10 is an internal electrical schematic diagram of a digital pulse module, an ultrasonic transmitting module, an ultrasonic sensor, and an ultrasonic receiving module;
  • Figure 11 is a schematic diagram showing the internal electrical structure of the slaveless parking radar slave sensor of the present invention.
  • spatially relative terms such as “upper”, “lower”, “left” and “right” may be used herein to describe the relationship of one element or feature shown in the figure to another element or feature. It will be understood that the spatial terms are intended to encompass different orientations of the device in use or operation. For example, elements in the “a” or “an” Thus, the exemplary term “lower” can encompass both an s.
  • the device may be otherwise positioned (rotated 90 degrees or at other orientations), and the relative description of the space used herein may be interpreted accordingly.
  • the hostless parking radar system of the present invention comprises a main sensor and a plurality of slave sensors arranged in parallel.
  • the main sensor 10 includes a first power module 11, a CPU module 12, a plurality of digital pulse transmission modules, a first digital pulse module 14, a first ultrasonic transmission module 15, a first ultrasonic sensor 16, a first ultrasonic receiving module 17,
  • the control and communication module 18 is detected.
  • a plurality of digital pulse transmission modules can be set according to usage requirements, each of the slave sensors 20 corresponding to a digital pulse transmission module, the plurality of digital pulse transmission modules including the first digital pulse transmission module 13, and according to the sense of subordination The number of the detectors 20 requires a plurality of digital pulse transmission modules.
  • the second digital pulse transmission module 28 and the third digital pulse transmission module 29 are respectively provided corresponding to the two slave sensors 20. In actual use, if N slave sensors 20 are provided, (N+1) digital pulse transmission modules will be provided in the main sensor 10.
  • the slave sensor 20 includes a second power module 21, a second digital pulse module 24, a second ultrasonic transmitting module 25, a second ultrasonic sensor 26, and a second ultrasonic receiving module 27.
  • Each slave sensor 20 is a digital probe without a CPU.
  • the detection process of the main sensor 10 for the obstacle object is:
  • the CPU module 12 of the main sensor 10 is a control core, and a CCP module is disposed in the CPU module 12, and a certain pulse of the CCP module sends a digital pulse signal;
  • the digital pulse signal is simply amplified by the first digital pulse transmission module 13 and the first digital pulse module 14, and then input to the first ultrasonic transmission module 15;
  • the first ultrasonic sensor 16 emits ultrasonic waves, and the first ultrasonic receiving module 17 receives and amplifies the analog signal generated by the object reflected by the first ultrasonic sensor 16;
  • the amplified analog signal is input to the first digital pulse module 14, and the first digital pulse module 14 converts it into a return digital pulse signal;
  • the return digital pulse signal is input to the corresponding pin of the CCP module of the CPU module 12 via the first digital pulse transmission module 13, and the distance measurement result of the main sensor 10 to the object is calculated by the CPU module 12.
  • the detection process of the obstacle sensor by the slave sensor 20 is:
  • the CPU module 12 of the main sensor 10 is a control core, and a digital pulse signal is sent by a certain pin of the CCP module of the CPU module 12;
  • the digital pulse signal is input to the second digital pulse module 24 of the slave sensor 20 via the second digital pulse transmission module 28 and the third digital pulse transmission module 29 of the main sensor 10, and is simply amplified and input into the second Ultrasonic transmitting module 25;
  • the second ultrasonic sensor 26 emits ultrasonic waves, and the second ultrasonic receiving module 27 receives and amplifies the analog signal generated by the second ultrasonic sensor 26;
  • the amplified analog signal is input to the second digital pulse module 24, and the second digital pulse module 24 converts it into a return digital pulse signal;
  • the return digital pulse signal of the slave sensor 20 is input to the CCP module of the CPU module 12 via the second digital pulse transmission module 28 and the third digital pulse transmission module 29 of the main sensor 10, and then calculated by the CPU module 12.
  • the distance measurement result of the slave sensor 20 on the object is input to the CCP module of the CPU module 12 via the second digital pulse transmission module 28 and the third digital pulse transmission module 29 of the main sensor 10, and then calculated by the CPU module 12. The distance measurement result of the slave sensor 20 on the object.
  • the main sensor 10 and each of the slave sensors 20 are connected by a single wire and perform digital pulse bidirectional transmission.
  • the main sensor side of the wire is connected to a digital pulse transmission module in the main sensor 10, and the slave is slave.
  • the sensor side is coupled to a second digital pulse module 24 within the slave sensor 20.
  • the different slave sensors 20 communicate with the main sensor 10 through two different wires through different single wires.
  • the transmitted signals are digital pulse signals instead of analog signals, so the slave sensors are digital probes and non-analog probes.
  • the main sensor 10 performs ultrasonic digital pulse signal transmission output and input detection through the independent pins of the CCP module of the CPU module 12, and the CCP module has a fast response speed, and the signal processing is more efficient than the A/D module. High, so it is possible to simultaneously control multiple sensors for transmission and simultaneously control multiple sensors for signal reception. Therefore, the main sensor 10 can control the respective sensors to perform the time-division polling operation, and realize the respective distance detecting functions of the respective sensors; and can also control several of the sensors to work at the same time, and the multiple sensors are charged at the same time. Or multi-received working mode for object detection to achieve the triangulation measurement and calculation function of the radar system.
  • the main sensing 10 is provided with a detection control and communication module 18, which is connected to a switch and a switch indicator of the parking radar system, and is internally connected to the CPU module 12.
  • a detection control and communication module 18 is connected to a switch and a switch indicator of the parking radar system, and is internally connected to the CPU module 12.
  • the detection control and communication module 18 is also provided with a LIN/CAN bus communication interface module to realize communication between the radar system and the vehicle bus module. Through the bus module, the system can obtain signals such as vehicle speed, temperature, gear position, and transmission system distance.
  • the detection result data and the status information data of each sensor are used for receiving and processing the vehicle-mounted bus module such as the automobile instrument or the central control host, for example, displaying the radar detection result information on the display of the on-board central control host, for example, through the instrument Make an audible alarm alert, and more.
  • the detection control and communication module 18 can directly connect the buzzer and drive the buzzer to make an audible alarm prompt.
  • the main sensor 10 can directly drive the buzzer to work, the system is in Some low-end vehicles have a strong cost advantage.
  • the main sensor 10 is disposed on the rear bumper of the automobile.
  • the main sensor 10 is disposed behind the vehicle, or the main sensor 10 and the plurality of slave sensors 20 are disposed behind the vehicle; when the car needs to have a front and rear radar In the (front and rear parking) function, on the original basis, the system expands and arranges the slave sensor 20 on the front bumper and the vehicle side portion; the main sensor 10 is disposed behind the vehicle, and the radar system has good expandability.
  • the electrical equipment at the front of the car is more disturbing than the rear of the car, and the environment is complicated. Therefore, the main sensor 10 with more CPU circuit modules is placed behind the car, which also makes the working environment of the system better and the work stability is better. .
  • the main sensor setting has a CPU module, but each subordinate sensor has no CPU module (microprocessor), thus greatly reducing the cost of the system.
  • the main sensor and each subordinate sensor use digital pulse signals for communication, instead of analog signals for communication, so the system's anti-interference ability is very strong, especially when the front and rear bumpers of the car are set to feel In the case of the detector, the system works more reliably and stably.
  • the main sensor performs the transmission and output of the ultrasonic digital pulse signal and the input detection of each sensor through the CCP module of the CPU module. Because of the high processing efficiency of the CCP module, the working efficiency of the system is greatly improved, thereby facilitating the system to realize the triangle. Positioning measurement and calculation functions. At the same time, because the CPU module uses CCP mode multiple times instead of multi-channel A/D mode, the main sensor also has some cost savings.
  • the invention provides a hostless parking radar system, generally configured with a main sensor and configured with 1 to 11 slave sensors.
  • a hostless parking radar system generally configured with a main sensor and configured with 1 to 11 slave sensors.
  • the system has the cost performance advantage. The more obvious.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

一种无主机泊车雷达系统，包括一个主感测器（10）、并联设置的若干个从属感测器（20），其中，主感测器（10）包括CPU模块（12）、第一数字脉冲模块（14）、第一超声波单元、并联设置的若干个数字脉冲传输模块；从属感测器（20）包括第二数字脉冲模块（24）、第二超声波单元；若干个数字脉冲传输模块分别与第一数字脉冲模块（14）、第二数字脉冲模块（24）双向传输联通。其中，主感测器（10）设置具有CPU模块（12），但各个从属感测器（20）均无CPU模块，因此大幅降低了系统的成本。主感测器（10）与各从属感测器（20）之间采用数字脉冲信号进行通讯，系统工作更可靠、稳定。

Description

一种无主机泊车雷达系统 技术领域
本发明涉及一种汽车泊车雷达系统，尤其涉及一种无主机泊车雷达系统。
背景技术
如图1，传统的泊车雷达系统，又称倒车雷达系统，一般包含主机81，多个感测器82(也俗称探头)以及至少一个报警器83，该多个感测器82分别与主机81相连，并在主机81的控制下协调工作，每个感测器82探测障碍物获得数据并传输给主机81，主机81分析数据并判断障碍物距离，当实际距离较近符合报警提示条件时，主机81驱动蜂鸣报警器83进行声音报警提示。通常，主机81安装布置于汽车车身内，多个感测器82布置于汽车前方及或后方汽车保险杠上，各个感测器成一定的距离布设，因此会造成感测器82与主机81之间的信号传输以及电源馈电等十分复杂，其不仅会增加线束及主机81的成本，而且过长的数据线也容易遭受干扰。
针对上述问题，人们开发出了无主机的泊车雷达系统，公告号为CN1892249A，无主机倒车雷达系统，如图2所示，其包括一个主感测器91以及一个或一个以上的从属感测器92，该主感测器91具有障碍物探测功能，并协调控制各从属感测器92的工作时序并与之通讯，其取消了主机的设置，从而能排除主机的影响。同时由于主感测器91与从属感测器92均设置在保险杠上，故使得整个雷达系统能缩短连接线的长度。
公告号为CN102129076A，一种串联结构的无主机泊车雷达系统，如图3所示，系统具有多个感测器71，每一个感测器的第一端子均通过内部网络72与相邻感测器的第二端子相连而形成串联结构，并实现各个感测器71之间的信息传递。每一个感测器71均包括CPU模块(微处理器)、通讯模块、超声波传感器、驱动发送模块和超声波接收模块。此方案主要优点为：一、提高了系统的反应速度，二、系统可以实现三角定位测量及计算功能。
公告号为CN103592649A，一体式泊车雷达系统，如图4所示，系统包括主感测器50以及至少一个从属感测器60，主感测器50包括CPU模块51、第一超声波传感器52、主驱动模块53、主放大模块54以及至少一个从驱动模块，该CPU模块内置有A/D转换模块，CPU模块51通过主驱动模块53而驱动第一超声波传感器52，该第一超声波传感器52通过主放大模块54而将反射模拟信号放大输送至CPU模块51的A/D转换模块。每一从属感测器60均为不带CPU的模拟感测器(模拟探头)，主感测器CPU模块通过一个从驱动模块而驱动一个从属感测器60，每一从属感测器60则将反射模拟信号放大输送至主感测器CPU模块的A/D转换模块。由于每一从属感测器均为模拟感测器，与带CPU的数字感测器(数字探头)相比，此方案系统成本优势明显。
以上，公告号为CN1892249A无主机倒车雷达系统中的主感测器91、从属感测器92，及公告号为CN102129076A一种串联结构的无主机泊车雷达系统中的感测器71，其每个感测器中均包含有CPU模块(微处理器)，从而系统成本都较高。而公告号为CN103592649A的一体式泊车雷达系统，虽然从属感测器皆为模拟感测器，从而降低了系统的成本，但是，因为从 属感测器所传输信号为模拟信号，非数字脉冲信号或数字信号，模拟信号在导线上传输时容易受干扰，特别是当系统在汽车前后保险杠上均设置有感测器的情形下，主感测器与部分从属感测器由车前至车后过长的传输导线更易遭受各种电器干扰；故此方案，系统的抗干扰能力较差。同时因为采用CPU模块A/D模块对各个感测器所收入模拟信号进行处理，存在以下问题：一，因A/D模块处理效率偏低，不便于系统实现三角定位测量及计算功能；二，因为需选取具有多路A/D模块的CPU，因此导致所选CPU成本偏高，从而导致主感测器成本偏高。
发明内容
针对现有技术存在的问题，本发明的目的在于提供一种结构经过改进、成本低、工作更可靠稳定、效率高的无主机泊车雷达系统。
为实现上述目的，本发明一种无主机泊车雷达系统，包括一个主感测器、并联设置的若干个从属感测器，其中，
主感测器包括CPU模块12、第一数字脉冲模块14、第一超声波单元、并联设置的若干个数字脉冲传输模块；
从属感测器20包括第二数字脉冲模块24、第二超声波单元；
若干个数字脉冲传输模块分别与第一数字脉冲模块14、第二数字脉冲模块24双向传输联通；CPU模块12发送数字脉冲信号经过数字脉冲传输模块分别传输至第一数字脉冲模块14、若干个第二数字脉冲模块24，并由第一数字脉冲模块14输入第一超声波单元、由第二数字脉冲模块24输入第二超声波单元；
第一超声波单元、第二超声波单元工作的模拟信号分别经第一数字脉冲模块14、第二数字脉冲模块24转换成返回数字脉冲信号，并经所对应的数字脉冲传输模块输入CPU模块，再由CPU模块12分别计算得出主感测器10、若干个从属感测器与对相应被测物体的距离测量结果。
进一步，所述CPU模块内设置有CCP模块，CCP模块的某一管脚向外发送所述数字脉冲信号。
进一步，所述返回数字脉冲信号输入所述CCP模块的相应管脚后，传输至所述CPU模块。
进一步，所述主感测器内设置有检测控制及通信模块18，该检测控制及通信模块18外连接泊车雷达系统的开关及开关指示灯。
进一步，所述检测控制及通信模块18内设置有LIN/CAN总线通讯接口模块，以实现雷达系统与车载总线模块的通讯。
进一步，所述检测控制及通讯模块18直接连接有蜂鸣器，并能够驱动蜂鸣器进行声音报警提示。
进一步，所述主感测器10设置于汽车的后保险杠上。
进一步，所述第一超声波单元包括第一超声波发射模块15、第一超声波传感器16，第一超声波接收模块17。
进一步，所述数字脉冲信号经所述数字脉冲传输模块及所述第一数字脉冲模块14简单放大处理后，输入所述第一超声波发射模块15，所述第一超声波发射模块15将信号升压放大 后，驱动所述第一超声波传感器16工作。
进一步，所述第一超声波传感器16发射超声波，所述第一超声波接收模块17对物体反射的模拟信号进行接收及放大处理，放大后的模拟信号输入所述第一数字脉冲模块14并转换为所述返回数字脉冲信号。
进一步，所述第二超声波单元包括第二超声波发射模块25、第二超声波传感器26，第二超声波接收模块27。
进一步，所述数字脉冲信号经所述数字脉冲传输模块及所述第二数字脉冲模块24，简单放大处理后输入所述第二超声波发射模块25，所述第二超声波发射模块25升压放大后，驱动所述第二超声波传感器26工作。
进一步，所述第二超声波传感器26发射超声波，所述第二超声波接收模块27对物体反射的模拟信号进行接收及放大处理，放大后的模拟信号输入所述第二数字脉冲模块24并转换为所述返回数字脉冲信号。
进一步，所述主感测器、若干个所述从属感测器内均设置有电源模块。
本发明中，主感测器设置具有CPU模块，但各个从属感测器均无CPU模块，因此大幅降低了系统的成本。主感测器与各从属感测器之间采用数字脉冲信号进行通讯，系统工作更可靠、稳定。
附图说明
图1为传统有主机泊车雷达结构原理框图；
图2为一种无主机泊车雷达结构原理框图；
图3为一种无主机泊车雷达结构原理框图；
图4为一种无主机泊车雷达内部结构原理框图；
图5为本发明无主机泊车雷达内部结构原理框图；
图6为电源模块的内部电气原理图；
图7为CPU模块的内部电气原理图；
图8为数字脉冲传输模块的内部电气原理图；
图9为检测控制及通信模块内部电气原理图；
图10为数字脉冲模块、超声波发射模块、超声波传感器，超声波接收模块的内部电气原理图；
图11为本发明无主机泊车雷达从属感测器内部电气原理图。
具体实施方式
下面，参考附图，对本发明进行更全面的说明，附图中示出了本发明的示例性实施例。然而，本发明可以体现为多种不同形式，并不应理解为局限于这里叙述的示例性实施例。而是，提供这些实施例，从而使本发明全面和完整，并将本发明的范围完全地传达给本领域的普通技术人员。
为了易于说明，在这里可以使用诸如“上”、“下”“左”“右”等空间相对术语，用于说 明图中示出的一个元件或特征相对于另一个元件或特征的关系。应该理解的是，除了图中示出的方位之外，空间术语意在于包括装置在使用或操作中的不同方位。例如，如果图中的装置被倒置，被叙述为位于其他元件或特征“下”的元件将定位在其他元件或特征“上”。因此，示例性术语“下”可以包含上和下方位两者。装置可以以其他方式定位(旋转90度或位于其他方位)，这里所用的空间相对说明可相应地解释。
如图5至图11所示，本发明一种无主机泊车雷达系统，包括一个主感测器、并联设置的若干个从属感测器。
主感测器10包括第一电源模块11、CPU模块12、若干个数字脉冲传输模块，第一数字脉冲模块14、第一超声波发射模块15、第一超声波传感器16，第一超声波接收模块17、检测控制及通信模块18。
若干个数字脉冲传输模块可以根据使用需求来设置数量，每一个从属感测器20均与一个数字脉冲传输模块相对应，若干个数字脉冲传输模块包括第一数字脉冲传输模块13、以及根据从属感测器20的数量需求设置的多个数字脉冲传输模块，本实施例中，设置有第二数字脉冲传输模块28、第三数字脉冲传输模块29分别与两个从属感测器20相对应。实际使用中，如果设置有N个从属感测器20，主感测器10内将设置有(N+1)个数字脉冲传输模块。
从属感测器20包括第二电源模块21、第二数字脉冲模块24、第二超声波发射模块25、第二超声波传感器26，第二超声波接收模块27。每一从属感测器20均为不带CPU的数字探头。
主感测器10对障碍物体的探测工作过程为：
1)主感测器10的CPU模块12为控制核心，CPU模块12内设置有CCP模块，CCP模块的某一管脚发送数字脉冲信号；
2)数字脉冲信号经第一数字脉冲传输模块13及第一数字脉冲模块14简单放大处理后，输入第一超声波发射模块15；
3)第一超声波发射模块15将信号升压放大后，驱动第一超声波传感器16工作；
4)第一超声波传感器16发射超声波，第一超声波接收模块17对物体反射第一超声波传感器16产生的模拟信号进行接收及放大处理；
5)放大后的模拟信号输入第一数字脉冲模块14，第一数字脉冲模块14将其转换为返回数字脉冲信号；
6)返回数字脉冲信号经第一数字脉冲传输模块13输入CPU模块12的CCP模块相应管脚，再由CPU模块12计算得出主感测器10对物体的距离测量结果。
从属感测器20对障碍物体的探测工作过程为：
1)主感测器10的CPU模块12为控制核心，CPU模块12的CCP模块某一管脚发送数字脉冲信号；
2)数字脉冲信号经主感测器10的第二数字脉冲传输模块28、第三数字脉冲传输模块29分别输入一个从属感测器20的第二数字脉冲模块24，简单放大处理后输入第二超声波发射模块25；
3)第二超声波发射模块25升压放大后，驱动第二超声波传感器26工作；
4)第二超声波传感器26发射超声波，第二超声波接收模块27对物体反射第二超声波传感器26产生的模拟信号进行接收及放大处理；
5)放大后的模拟信号输入第二数字脉冲模块24，第二数字脉冲模块24将其转换为返回数字脉冲信号；
6)从属感测器20的返回数字脉冲信号经主感测器10的第二数字脉冲传输模块28、第三数字脉冲传输模块29输入CPU模块12的CCP模块，再由CPU模块12计算得出从属感测器20对物体的距离测量结果。
主感测器10与各个从属感测器20之间均通过单一的导线连接并进行数字脉冲双向传输，此导线主感测器侧连接主感测器10内的某一数字脉冲传输模块，从属感测器侧连接从属感测器20内的第二数字脉冲模块24。不同的从属感测器20通过不同的单一导线与主感测器10进行双向传输通讯，所传输信号为数字脉冲信号，而非模拟信号，故从属感测器为数字探头，非模拟探头。
同时，主感测器10通过CPU模块12的CCP模块独立的管脚对各个感测器进行超声波数字脉冲信号的发送输出及输入检测，CCP模块响应速度快，信号处理相对A/D模块效率更高，因此可以同时控制多个感测器进行发射也可同时控制多个感测器进行信号接收。因此，主感测器10既可控制各个感测器按时序分时轮询工作，实现各个感测器各自的距离探测功能；也可控制其中若干个感测器同时工作，按一发多收或多发多收的工作模式进行物体探测工作，以实现雷达系统的三角定位测量及计算功能。
主感测10设置有检测控制及通讯模块18，其外连接泊车雷达系统的开关及开关指示灯，内连接CPU模块12。泊车雷达系统在需要开起及关闭时，可通过此开关进行操作，操作结果状态则通过开关指示灯进行提供，开关信号检测及指示灯驱动控制最终由CPU模块12判断及处理。
检测控制及通讯模块18同时设置有LIN/CAN总线通讯接口模块，以实现雷达系统与车载总线模块的通讯，通过总线模块，系统可获取汽车速度、温度、档位等信号，也可传输系统距离探测结果数据及各感测器的状态信息数据等，以便汽车仪表或中控主机等车载总线模块进行接收及处理，譬如在车载中控主机显示屏上对雷达探测结果信息进行显示，譬如通过仪表进行声音报警提示，等等。
检测控制及通讯模块18可直接连接蜂鸣器并驱动蜂鸣器进行声音报警提示，对于仅需要声音报警功能的简单倒车雷达系统，主感测器10可直接驱动蜂鸣器进行工作，系统在部分低端车上运用具有很强的成本优势。
此外，本发明中，主感测器10设置于汽车的后保险杠上。当汽车仅配置倒车雷达(后泊车)功能时，主感测器10设置于车后，或者是主感测器10与若干个从属感测器20设置于车后；当汽车需具有前后雷达(前后泊车)功能时，在原有基础上，系统扩展布置从属感测器20于车前保险杠、车侧部位即可；主感测器10设置于车后，雷达系统的扩展性佳。同时，通常汽车前部的电器设备干扰较汽车后部大，环境复杂，因此带CPU电路模块多的主感测器10设置于车后，也使得系统的工作环境更好，工作稳定性更佳。
本发明一种无主机泊车雷达系统的以上创新，克服了目前其它所有主从式无主机泊车雷 达系统存在的各种缺陷，其相对优势，总结说明如下：
一、主感测器设置具有CPU模块，但各个从属感测器均无CPU模块(微处理器)，因此大幅降低了系统的成本。
二、主感测器与各从属感测器之间采用数字脉冲信号进行通讯，而非模拟信号进行通讯，因此系统的抗干扰能力很强，特别是当在汽车前后保险杠上均设置有感测器的情形下，系统工作更可靠、稳定。
三、主感测器通过CPU模块的CCP模块对各个感测器进行超声波数字脉冲信号的发送输出及输入检测，因CCP模块处理效率高，大幅提高了系统的工作效率，从而更便利系统实现三角定位测量及计算功能，同时，因为CPU模块多路采用CCP方式，而非多路采用A/D方式，主感测器在成本上也有一定的节省。
本发明一种无主机泊车雷达系统，通常为配置一个主感测器，配置1至11个从属感测器，当系统所配置的从属感测器数量越多时，本发明系统具有的性价比优势越明显。

Claims (14)

  1. 一种无主机泊车雷达系统，其特征在于，包括一个主感测器、并联设置的若干个从属感测器，其中，
    主感测器包括CPU模块、第一数字脉冲模块、第一超声波单元、并联设置的若干个数字脉冲传输模块；
    从属感测器包括第二数字脉冲模块、第二超声波单元；
    若干个数字脉冲传输模块分别与第一数字脉冲模块、第二数字脉冲模块双向传输联通；CPU模块发送数字脉冲信号经过数字脉冲传输模块分别传输至第一数字脉冲模块、若干个第二数字脉冲模块，并由第一数字脉冲模块输入第一超声波单元、由第二数字脉冲模块输入第二超声波单元；
    第一超声波单元、第二超声波单元工作的模拟信号分别经第一数字脉冲模块、第二数字脉冲模块转换成返回数字脉冲信号，并经所对应的数字脉冲传输模块输入CPU模块，再由CPU模块分别计算得出主感测器、若干个从属感测器与对相应被测物体的距离测量结果。
  2. 如权利要求1所述的无主机泊车雷达系统，其特征在于，所述CPU模块内设置有CCP模块，CCP模块的某一管脚向外发送所述数字脉冲信号。
  3. 如权利要求2所述的无主机泊车雷达系统，其特征在于，所述返回数字脉冲信号输入所述CCP模块的相应管脚后，传输至所述CPU模块。
  4. 如权利要求1所述的无主机泊车雷达系统，其特征在于，所述主感测器内设置有检测控制及通信模块，该检测控制及通信模块外连接泊车雷达系统的开关及开关指示灯。
  5. 如权利要求4所述的无主机泊车雷达系统，其特征在于，所述检测控制及通信模块内设置有LIN/CAN总线通讯接口模块，以实现雷达系统与车载总线模块的通讯。
  6. 如权利要求4所述的无主机泊车雷达系统，其特征在于，所述检测控制及通讯模块直接连接有蜂鸣器，并能够驱动蜂鸣器进行声音报警提示。
  7. 如权利要求1所述的无主机泊车雷达系统，其特征在于，所述主感测器设置于汽车的后保险杠上。
  8. 如权利要求1所述的无主机泊车雷达系统，其特征在于，所述第一超声波单元包括第一超声波发射模块、第一超声波传感器，第一超声波接收模块。
  9. 如权利要求8所述的无主机泊车雷达系统，其特征在于，所述数字脉冲信号经所述数字脉冲传输模块及所述第一数字脉冲模块简单放大处理后，输入所述第一超声波发射模块，所述第一超声波发射模块将信号升压放大后，驱动所述第一超声波传感器工作。
  10. 如权利要求9所述的无主机泊车雷达系统，其特征在于，所述第一超声波传感器发射超声波，所述第一超声波接收模块对物体反射的模拟信号进行接收及放大处理，放大后的模拟信号输入所述第一数字脉冲模块并转换为所述返回数字脉冲信号。
  11. 如权利要求1所述的无主机泊车雷达系统，其特征在于，所述第二超声波单元包括第二超声波发射模块、第二超声波传感器，第二超声波接收模块。
  12. 如权利要求11所述的无主机泊车雷达系统，其特征在于，所述数字脉冲信号经所述 数字脉冲传输模块及所述第二数字脉冲模块，简单放大处理后输入所述第二超声波发射模块，所述第二超声波发射模块升压放大后，驱动所述第二超声波传感器工作。
  13. 如权利要求12所述的无主机泊车雷达系统，其特征在于，所述第二超声波传感器发射超声波，所述第二超声波接收模块对物体反射的模拟信号进行接收及放大处理，放大后的模拟信号输入所述第二数字脉冲模块并转换为所述返回数字脉冲信号。
  14. 如权利要求1所述的无主机泊车雷达系统，其特征在于，所述主感测器、若干个所述从属感测器内均设置有电源模块。
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