CN105572675B - A kind of vehicle anti-collision early warning method - Google Patents
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- G—PHYSICS
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- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- G—PHYSICS
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- 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
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Abstract
一种汽车防撞预警方法，采用汽车防撞预警装置来实现，通过中央处理器控制控制第一至第五雷达传感器分别得到雷达传感器至障碍物的距离，通过三角函数进行建模计算，得到车尾到障碍物的垂直距离，当垂直距离大于等于阈值时，则发出警报，能够实现大范围监控，报警正确率高，成本低，并且有效的消除测量误差。
A car anti-collision early warning method, which is realized by a car anti-collision early warning device. The first to fifth radar sensors are controlled by a central processing unit to obtain the distances from the radar sensor to obstacles, and modeling and calculation are performed through trigonometric functions to obtain vehicle The vertical distance from the tail to the obstacle, when the vertical distance is greater than or equal to the threshold, an alarm will be issued, which can realize large-scale monitoring, high alarm accuracy rate, low cost, and effectively eliminate measurement errors.
Description
技术领域technical field
本发明涉及汽车安全领域，具体涉及一种汽车防撞预警方法。The invention relates to the field of automobile safety, in particular to an automobile anti-collision early warning method.
背景技术Background technique
公共交通安全是公众非常关心的问题，而对于汽车驾驶者而言驾驶安全是一个重大的问题。在很多的交通事故中，碰撞是经常发生的事故形式，侧、后方的碰撞占的比例很高。侧、后方的碰撞通常发生在交叉路口、变向、超车、倒车等环境下，对于车辆的损害也很大，维修成本比较高。如何有效、准确的提醒驾驶员，从而预防汽车碰撞成了非常热门的问题。Public transportation safety is a matter of great concern to the public, and driving safety is a major issue for car drivers. In many traffic accidents, collision is a frequent accident form, and the ratio of side and rear collisions is very high. Side and rear collisions usually occur at intersections, changing directions, overtaking, reversing, etc., causing great damage to the vehicle and high maintenance costs. How to effectively and accurately remind drivers to prevent automobile collisions has become a very hot issue.
目前，现有的汽车防碰撞的方式主要是在汽车的前后方加装保险杠，安装安全气囊和安全带的方式保护驾驶员和乘客，另外还有通过在汽车的周围的车身上设置雷达，从而在汽车靠近障碍物或者可能发生碰撞的对象提醒驾驶者，预防发生碰撞。然而目前设置雷达的方式提醒驾驶员实现的预警的方式准确率比较低，误报警的机率很高，给驾驶员造成了很多的不便，另外现有技术中的雷达往往是针对某一角度范围进行扫描，没有与之配合的监控、校准、确认判断的雷达系统。At present, the existing anti-collision methods of automobiles are mainly to install bumpers on the front and rear of the automobile, install airbags and safety belts to protect the driver and passengers, and also by setting radar on the surrounding body of the automobile, In this way, when the car is close to obstacles or objects that may collide, the driver is reminded to prevent collisions. However, the current way of setting the radar to remind the driver is that the accuracy rate of the early warning is relatively low, and the probability of false alarm is very high, which causes a lot of inconvenience to the driver. In addition, the radar in the prior art is often aimed at a certain angle range. Scanning, there is no radar system for monitoring, calibrating, confirming and judging.
发明内容Contents of the invention
本发明的目的在于克服现有技术的不足，提供一种能够实现大范围监控，报警正确率高，成本低，并且有效的消除测量误差的汽车防撞预警方法。The purpose of the present invention is to overcome the deficiencies of the prior art, and provide a vehicle anti-collision early warning method capable of realizing large-scale monitoring, high alarm accuracy, low cost, and effectively eliminating measurement errors.
本发明提供了一种汽车防撞预警方法，采用汽车防撞预警装置来实现，其中汽车防撞预警装置包括分别与中央处理器连接的雷达传感装置和报警器，雷达传感装置包括依次设置在汽车尾部的位于同一直线上的5个雷达传感器，第一雷达传感器和第五雷达传感器分别位于汽车尾部的两端，距离为L，第三雷达传感器位于分别距第一雷达传感器和第五雷达传感器L/2处，第二雷达传感器位于距第一雷达传感器a处，第四雷达传感器位于距第五雷达传感器b处，其中a和b都小于L/2,且a+b＝L/2；The invention provides an automobile anti-collision early warning method, which is realized by an automobile anti-collision early warning device, wherein the automobile anti-collision early warning device includes a radar sensing device and an alarm device respectively connected to a central processing unit, and the radar sensing device includes a set of There are five radar sensors on the same straight line at the rear of the car. The first radar sensor and the fifth radar sensor are respectively located at both ends of the rear of the car with a distance of L. The third radar sensor is located at a distance from the first radar sensor and the fifth radar sensor respectively. At the sensor L/2, the second radar sensor is located at a distance from the first radar sensor, and the fourth radar sensor is located at a distance from the fifth radar sensor b, wherein a and b are both smaller than L/2, and a+b=L/2 ;
依次包括以下步骤：Include the following steps in order:
(1)通过中央处理器控制第三雷达传感器以角度α发射雷达信号R3进行障碍物扫描，其中α为发射雷达信号R3方向与所述直线的夹角；(1) The third radar sensor is controlled by the central processing unit to transmit the radar signal R3 at an angle α for obstacle scanning, wherein α is the angle between the direction of the transmitted radar signal R3 and the straight line;
(2)接收从障碍物返回的回波信号E3，得到第三雷达传感器与障碍物的距离A，通过公式d1＝A sinα计算得到障碍物到车尾的垂直距离d1；(2) Receive the echo signal E3 returned from the obstacle, obtain the distance A between the third radar sensor and the obstacle, and calculate the vertical distance d1 from the obstacle to the rear of the vehicle by the formula d1=A sinα;
(3)通过中央处理器分别控制第一、二雷达传感器同时发射雷达信号R1、R2进行扫描，其中发射雷达信号R1、R2汇聚于同一点，且所述点位于距离所述直线为d1且平行的平行线上；(3) The first and second radar sensors are respectively controlled by the central processing unit to simultaneously transmit radar signals R1 and R2 for scanning, wherein the transmitted radar signals R1 and R2 converge at the same point, and the point is located at a distance d1 from the straight line and parallel on the parallel line;
(4)分别接收从障碍物返回的回波信号E1和E2，分别得到第一、二雷达传感器与障碍物的距离B1和B2，计算其中β为发射雷达信号R1方向与所述直线的夹角，通过反三角函数公式得到β值；(4) Receive the echo signals E1 and E2 returned from the obstacle respectively, obtain the distances B1 and B2 between the first and second radar sensors and the obstacle, and calculate Wherein β is the angle between the direction of the transmitting radar signal R1 and the straight line, and the value of β is obtained by the inverse trigonometric formula;
(5)通过公式d2＝B1sinβ计算得到障碍物与车尾的垂直距离d2；(5) Calculate the vertical distance d2 between the obstacle and the rear of the vehicle through the formula d2=B1sinβ;
(6)通过中央处理器分别控制第四、五雷达传感器同时发射雷达信号R4、R5进行扫描，其中发射雷达信号R4、R5汇聚于同一点，且所述点位于距离所述直线为d2且平行的平行线上；(6) The fourth and fifth radar sensors are respectively controlled by the central processing unit to simultaneously transmit radar signals R4 and R5 for scanning, wherein the transmitted radar signals R4 and R5 converge at the same point, and the point is located at a distance d2 from the straight line and parallel on the parallel line;
(7)分别接收从障碍物返回的回波信号E4和E5，分别得到第四、五雷达传感器与障碍物的距离C2和C1，计算其中θ为发射雷达信号R4方向与所述直线的夹角，通过反三角函数公式得到θ值；(7) Receive the echo signals E4 and E5 returned from the obstacle respectively, obtain the distances C2 and C1 between the fourth and fifth radar sensors and the obstacle, and calculate Wherein θ is the included angle between the direction of transmitting radar signal R4 and the straight line, and the value of θ is obtained by the inverse trigonometric formula;
(8)通过公式d3＝C2sinθ计算得到障碍物与车尾的垂直距离d3；(8) Calculate the vertical distance d3 between the obstacle and the rear of the vehicle by the formula d3=C2sinθ;
(9)按照权重计算如果d小于阈值，则重复步骤(1)-(8)，如果大于等于阈值，则通过中央处理器控制报警器发出警报。(9) Calculated according to weight If d is less than the threshold, repeat steps (1)-(8), if it is greater than or equal to the threshold, the central processing unit controls the alarm to send an alarm.
优选地，雷达传感器为超声波雷达传感器和/或激光雷达传感器。Preferably, the radar sensor is an ultrasonic radar sensor and/or a lidar sensor.
优选地，报警器为有线报警器和/或无线报警器。Preferably, the alarm is a wired alarm and/or a wireless alarm.
本发明的汽车防撞预警方法，可以实现：The automobile anti-collision early warning method of the present invention can realize:
1)能够实现大范围扫描监控，预警范围大，优化的设置传感器及其位置参数，有效的消除了测量时的各种干扰造成的误差，准确率提高。1) It can realize large-scale scanning monitoring, large warning range, optimized setting of sensors and their position parameters, effectively eliminating errors caused by various interferences during measurement, and improving accuracy.
2)经过多种计算方式的组合，得到的数据更加可靠，报警正确率高，成本低。2) Through the combination of various calculation methods, the obtained data is more reliable, the alarm accuracy rate is high, and the cost is low.
附图说明Description of drawings
图1汽车防撞预警装置结构示意图Figure 1 Structural schematic diagram of automobile anti-collision warning device
图2雷达传感装置设置结构示意图Figure 2 Schematic diagram of the setup structure of the radar sensing device
图3雷达传感装置设置工作原理示意图Figure 3 Schematic diagram of the working principle of the radar sensor setup
具体实施方式detailed description
下面详细说明本发明的具体实施，有必要在此指出的是，以下实施只是用于本发明的进一步说明，不能理解为对本发明保护范围的限制，该领域技术熟练人员根据上述本发明内容对本发明做出的一些非本质的改进和调整，仍然属于本发明的保护范围。The concrete implementation of the present invention is described in detail below, it is necessary to point out here that the following implementation is only used for further description of the present invention, and can not be interpreted as limiting the protection scope of the present invention. Some non-essential improvements and adjustments still belong to the protection scope of the present invention.
本发明提供了一种汽车防撞预警方法，如附图1所示，采用汽车防撞预警装置来实现，其中汽车防撞预警装置包括分别与中央处理器连接的雷达传感装置和报警器，如附图2所示，雷达传感装置包括依次设置在汽车尾部的位于同一直线上的5个雷达传感器1，如附图3所示，第一雷达传感器和第五雷达传感器分别位于汽车尾部的两端，距离为L，第三雷达传感器位于分别距第一雷达传感器和第五雷达传感器L/2处；第二雷达传感器位于距第一雷达传感器a处，第四雷达传感器位于距第五雷达传感器b处，其中a和b都小于L/2,且a+b＝L/2。具体来说，汽车防撞预警方法依次包括如下步骤：The present invention provides a kind of automobile anti-collision early warning method, as shown in accompanying drawing 1, adopt automobile anti-collision early warning device to realize, wherein automobile anti-collision early warning device comprises the radar sensing device and the alarm that are respectively connected with central processing unit, As shown in accompanying drawing 2, the radar sensing device comprises five radar sensors 1 arranged on the same straight line at the rear of the automobile in sequence, as shown in accompanying drawing 3, the first radar sensor and the fifth radar sensor are respectively located at the rear of the automobile. At both ends, the distance is L, the third radar sensor is located at L/2 distance from the first radar sensor and the fifth radar sensor; the second radar sensor is located at a distance from the first radar sensor, and the fourth radar sensor is located at a distance from the fifth radar sensor At sensor b, where a and b are both smaller than L/2, and a+b=L/2. Specifically, the automobile collision avoidance warning method includes the following steps in turn:
(1)通过中央处理器控制第三雷达传感器以角度α发射雷达信号R3进行障碍物扫描，其中α为发射雷达信号R3方向与所述直线的夹角；(1) The third radar sensor is controlled by the central processing unit to transmit the radar signal R3 at an angle α for obstacle scanning, wherein α is the angle between the direction of the transmitted radar signal R3 and the straight line;
(2)接收从障碍物返回的回波信号E3，得到第三雷达传感器与障碍物的距离A，通过公式d1＝A sinα计算得到障碍物到车尾的垂直距离d1；(2) Receive the echo signal E3 returned from the obstacle, obtain the distance A between the third radar sensor and the obstacle, and calculate the vertical distance d1 from the obstacle to the rear of the vehicle by the formula d1=A sinα;
(3)通过中央处理器分别控制第一、二雷达传感器同时发射雷达信号R1、R2进行扫描，其中发射雷达信号R1、R2汇聚于同一点，且所述点位于距离所述直线为d1且平行的平行线上；(3) The first and second radar sensors are respectively controlled by the central processing unit to simultaneously transmit radar signals R1 and R2 for scanning, wherein the transmitted radar signals R1 and R2 converge at the same point, and the point is located at a distance d1 from the straight line and parallel on the parallel line;
(4)分别接收从障碍物返回的回波信号E1和E2，分别得到第一、二雷达传感器与障碍物的距离B1和B2，计算其中β为发射雷达信号R1方向与所述直线的夹角，通过反三角函数公式得到β值；(4) Receive the echo signals E1 and E2 returned from the obstacle respectively, obtain the distances B1 and B2 between the first and second radar sensors and the obstacle, and calculate Wherein β is the angle between the direction of the transmitting radar signal R1 and the straight line, and the value of β is obtained by the inverse trigonometric formula;
(5)通过公式d2＝B1sinβ计算得到障碍物与车尾的垂直距离d2；(5) Calculate the vertical distance d2 between the obstacle and the rear of the vehicle through the formula d2=B1sinβ;
(6)通过中央处理器分别控制第四、五雷达传感器同时发射雷达信号R4、R5进行扫描，其中发射雷达信号R4、R5汇聚于同一点，且所述点位于距离所述直线为d2且平行的平行线上；(6) The fourth and fifth radar sensors are respectively controlled by the central processing unit to simultaneously transmit radar signals R4 and R5 for scanning, wherein the transmitted radar signals R4 and R5 converge at the same point, and the point is located at a distance d2 from the straight line and parallel on the parallel line;
(7)分别接收从障碍物返回的回波信号E4和E5，分别得到第四、五雷达传感器与障碍物的距离C2和C1，计算其中θ为发射雷达信号R4方向与所述直线的夹角，通过反三角函数公式得到θ值；(7) Receive the echo signals E4 and E5 returned from the obstacle respectively, obtain the distances C2 and C1 between the fourth and fifth radar sensors and the obstacle, and calculate Wherein θ is the included angle between the direction of transmitting radar signal R4 and the straight line, and the value of θ is obtained by the inverse trigonometric formula;
(8)通过公式d3＝C2sinθ计算得到障碍物与车尾的垂直距离d3；(8) Calculate the vertical distance d3 between the obstacle and the rear of the vehicle by the formula d3=C2sinθ;
(9)按照权重计算如果d小于阈值，则重复步骤(1)-(8)，如果大于等于阈值，则通过中央处理器控制报警器发出警报。(9) Calculated according to weight If d is less than the threshold, repeat steps (1)-(8), if it is greater than or equal to the threshold, the central processing unit controls the alarm to send an alarm.
需要说明的是，在计算的过程中可能出现取值正负的问题，对于本领域技术人员而言可以根据实际的计算结果的正负来做出调整，取正值、负值或正值和负值的组合，对于不满足计算条件的极端情况应该剔除。It should be noted that during the calculation process, there may be a problem of positive or negative values. Those skilled in the art can make adjustments according to the positive or negative of the actual calculation results, and take positive values, negative values, or positive and negative values. The combination of negative values should be eliminated for extreme cases that do not meet the calculation conditions.
尽管为了说明的目的，已描述了本发明的示例性实施方式，但是本领域的技术人员将理解，不脱离所附权利要求中公开的发明的范围和精神的情况下，可以在形式和细节上进行各种修改、添加和替换等的改变，而所有这些改变都应属于本发明所附权利要求的保护范围，并且本发明要求保护的产品各个部门和方法中的各个步骤，可以以任意组合的形式组合在一起。因此，对本发明中所公开的实施方式的描述并非为了限制本发明的范围，而是用于描述本发明。相应地，本发明的范围不受以上实施方式的限制，而是由权利要求或其等同物进行限定。Although exemplary embodiments of the present invention have been described for purposes of illustration, workers skilled in the art will understand that changes may be made in form and detail without departing from the scope and spirit of the invention as disclosed in the appended claims. Make various modifications, additions and replacements, etc., and all these changes should belong to the protection scope of the appended claims of the present invention, and each step in each department and method of the product claimed in the present invention can be combined in any form together. Therefore, the description of the embodiments disclosed in the present invention is not intended to limit the scope of the present invention but to describe the present invention. Accordingly, the scope of the present invention is not limited by the above embodiments but by the claims or their equivalents.
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| CN109581391A (en) * | 2018-12-28 | 2019-04-05 | 广州小鹏汽车科技有限公司 | A kind of the determination method and parking stall position determining means of parking position |
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