CN109766851A - Method and device for determining obstacle and reversing imaging equipment - Google Patents
Method and device for determining obstacle and reversing imaging equipment Download PDFInfo
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- CN109766851A CN109766851A CN201910037293.3A CN201910037293A CN109766851A CN 109766851 A CN109766851 A CN 109766851A CN 201910037293 A CN201910037293 A CN 201910037293A CN 109766851 A CN109766851 A CN 109766851A
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Abstract
The application discloses a method and a device for determining an obstacle and a reversing imaging device. Wherein, the method comprises the following steps: triggering the radar device to transmit at least one signal and detecting whether the radar device receives a returned signal; if the radar device is detected to receive the returned signal, acquiring first time when the radar device transmits at least one signal and second time when the radar device receives the returned at least one signal; determining a distance between the radar device and the obstacle according to a time difference between the first time and the second time, wherein at least one signal is reflected when encountering the obstacle; determining a contour of the obstacle from the returned at least one signal. The technical problems that a reversing system composed of ultrasonic ranging and a camera at the present stage has a large leak and an obstacle is identified inaccurately are solved.
Description
Technical field
This application involves microwave radar detection field, in particular to a kind of barrier determination method and device, fall
Vehicle imaging device.
Background technique
It is mainly made of ultrasonic rangefinder and the shooting imaging of tailstock camera in current vehicle backing system.However
Ultrasonic wave is unable to get the RUNTIME VIEW of vehicle periphery, can only achieve the alarm system of hypotelorism.Although tailstock camera energy
RUNTIME VIEW is provided, but camera still remains following disadvantage: first, fixing camera there are dead angle, exists around vehicle body
Not a possibility that not observing；Second, human eye will receive extraneous influence, especially night to the capture sensitivity of camera image,
Human eye may ignore the image of dark, and influence and haze of the rainy day rainwater to camera side mirror are everyday
The problems such as camera sighting distance is limited.In conclusion the equipment in vehicle backing system still remains very big loophole at present.
For above-mentioned problem, currently no effective solution has been proposed.
Summary of the invention
The embodiment of the present application provides a kind of determination method and device of barrier, Car reversion image-forming equipment, at least to solve
There is very big loophole, the skill of cognitive disorders object inaccuracy by the backing system that ultrasonic distance measurement and camera camera shooting form at this stage
Art problem.
According to the one aspect of the embodiment of the present application, a kind of determination method of barrier is provided, comprising: triggering radar dress
It sets and emits at least one signal, and detect the signal whether radar installations receives return；If detecting that radar installations receives
To the signal of return, acquisition radar installations emits the first time of at least one signal and radar installations is received and returned at least
Second time of one signal；According at the first time and the second time time difference determine between radar installations and barrier away from
From, wherein at least one signal encounters barrier and reflects；The wheel of barrier is determined according at least one signal returned
It is wide.
Optionally, if detecting that radar installations receives the signal of return, the above method further include: detection radar installations
Whether phase frequency-shift signaling is received, wherein phase frequency-shift signaling is the low frequency signal that frequency is located at pre-set interval；If detection
To phase frequency-shift signaling, determine that barrier is motion state；If phase frequency-shift signaling is not detected, determine that barrier is static
State.
Optionally, if detecting that radar installations receives the signal of return, the above method further include: determine at least one
First phase when signal emits, phase are the phase of the waveform of at least one signal；Determine at least one signal received
Second phase；Phase difference according to first phase and second phase determines the state of barrier.
Optionally, the phase difference according to first phase and second phase determines the state of barrier, comprising: if phase difference
It is zero, determines that barrier is stationary state；If phase difference is greater than zero, determine that barrier is motion state.
Optionally, the signal of radar installations transmitting includes at least microwave signal.
Optionally, the distance between radar installations and barrier are determined according to the time difference at the first time with the second time,
Comprise determining that the product of the spread speed of time difference and microwave signal；The half of product be radar installations and barrier it
Between distance.
Optionally, the profile of barrier is determined according at least one signal returned, further includes: utilize distance and at least one
The launch angle of a signal calculates the height and/or width of barrier；The profile of barrier is determined according to height and/or width.
Optionally, before triggering radar installations emits at least one signal, method further include: whether detection camera is adopted
Collect the image of barrier；If camera does not collect the image of barrier, triggering radar installations emits at least one signal；
If camera collects the image of barrier, refusal triggering radar installations emits at least one signal.
Optionally, after determining barrier, method further include: determine the type of barrier.
Optionally, the above method further include: distance between radar installations and barrier be less than or equal to it is default away from
From when, issue warning note.
According to the another aspect of the embodiment of the present application, a kind of determining device of barrier is additionally provided, comprising: trigger mode
Block emits at least one signal for triggering radar installations, and detects the signal whether radar installations receives return；Obtain mould
Block emits at least one signal in the case where detecting that radar installations receives the signal of return, obtaining radar installations
First time and radar installations receive return at least one signal the second time；First determining module, for according to the
The time difference of one time and the second time determine the distance between radar installations and barrier, wherein at least one signal of thunder is met
It is reflected to barrier；Second determining module, for determining the profile of barrier according at least one signal returned.
According to the another aspect of the embodiment of the present application, a kind of Car reversion image-forming equipment is additionally provided, comprising: at least one radar
Device is arranged on vehicle, for emitting at least one signal；Controller is communicated at least one radar installations, for triggering
At least one radar installations emits at least one signal, and detects the signal whether radar installations receives return；It is detecting
In the case that radar installations receives the signal of return, first time and thunder that radar installations emits at least one signal are obtained
The second time of at least one signal returned is received up to device；Radar is determined according to the time difference at the first time with the second time
The distance between device and barrier, wherein at least one signal encounters barrier and reflects；According at least one returned
Signal determines the profile of barrier；At least one camera is arranged on vehicle, communicates with controller, for acquiring barrier
Image.
According to the embodiment of the present application in another aspect, additionally providing a kind of storage medium, storage medium includes the journey of storage
Sequence, wherein the determination method of the barrier more than equipment execution when program is run where control storage medium.
According to the embodiment of the present application in another aspect, additionally providing a kind of processor, processor is used to run program,
In, the determination method of barrier when program is run more than execution.
In the embodiment of the present application, at least one signal is emitted using triggering radar installations, and whether detects radar installations
Receive the signal of return；If detecting that radar installations receives the signal of return, obtains radar installations and emit at least one
The first time of signal and radar installations receive the second time of at least one signal returned；According to first time and second
The time difference of time determines the distance between radar installations and barrier, wherein at least one signal encounters barrier and occurs instead
It penetrates；The mode that the profile of barrier is determined according at least one signal returned receives back wave by microwave radar, and calculates
Time difference between transmitted wave and back wave determines the approximate distance of barrier, determines barrier according to the back wave received
Profile, achieved the purpose that tellurometer survey and fuzzy imaging, thus realize more accurately cognitive disorders object technology effect
Fruit, and then solve and there is very big loophole, identification barrier by the backing system that ultrasonic distance measurement and camera camera shooting form at this stage
Hinder the technical problem of object inaccuracy.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present application, constitutes part of this application, this Shen
Illustrative embodiments and their description please are not constituted an undue limitation on the present application for explaining the application.In the accompanying drawings:
Fig. 1 is the flow chart according to a kind of determination method of barrier of the embodiment of the present application；
Fig. 2 is a kind of schematic diagram using microwave radar range according to the embodiment of the present application；
Fig. 3 is the schematic diagram according to a kind of backing system of the embodiment of the present application；
Fig. 4 is the structure chart according to a kind of determining device of barrier of the embodiment of the present application；
Fig. 5 is the structure chart according to a kind of Car reversion image-forming equipment of the embodiment of the present application.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
According to the embodiment of the present application, the embodiment of the method for a kind of determination method of barrier is provided, it should be noted that
Step shown in the flowchart of the accompanying drawings can execute in a computer system such as a set of computer executable instructions, and
It, in some cases, can be to be different from sequence execution institute herein and although logical order is shown in flow charts
The step of showing or describing.
Fig. 1 is according to a kind of flow chart of the determination method of barrier of the embodiment of the present application, as shown in Figure 1, this method
Include the following steps:
Step S102, triggering radar installations emits at least one signal, and detects whether radar installations receives return
Signal.
According to an optional embodiment of the application, the signal of radar installations transmitting includes at least microwave signal.
Radar is also referred to as " radio-positioning ", is to be irradiated and receive its echo to target using microwave, thus obtains
Target is obtained to information such as the distance of Microwave emission point, range rate (radial velocity), orientation, height.Microwave radar is shaken by RC
It swings circuit and generates high-frequency signal, the frequency f=1/2 π RC of RC oscillating circuit amplifies the micro- of transmitting 2.4G-3.2GHz through triode
Wave signal.If encountering fixed object, ranging can be carried out according to the time difference between transmitted wave and back wave, learn object
Size and profile.
It should be noted that tranmitting frequency should avoid common frequency band, (the frequency model of 3G and 4G cell phone signal and WIFI signal
It is trapped among 1.8-2.4GHz), the working frequency of microwave radar transmitting module will avoid this frequency range, avoid interfering with each other.In addition,
Under same frequency, high-frequency triode is bigger to the characteristic frequency ft of high-frequency signal, and high frequency income is higher, received frequency-shift signaling
Output amplitude is bigger, and induction sensitivity is higher, and distance of reaction is remoter.
Wherein, following factor influences the distance of reaction of microwave radar: the size of 1. transmitting antenna plates, the size are got over
Long, antenna is longer, then distance of reaction is also remoter；2. the characteristic frequency of high-frequency triode is higher, the bigger induction of high-frequency gain
Distance is also remoter；3. the amplification factor of rear class operational amplifier is appropriate, big to the amplitude of the frequency-shift signaling amplification of output；4.
For tranmitting frequency preferably in the 2.4GHz of standard criterion, frequency point is too high, and transmitting signal power reduces, and receiving sensitivity also reduces.
When executing step S102, if detecting the microwave signal of return, illustrate that there are barriers；If be not detected
Barrier is then not present in the microwave signal of return.
Step S104 obtains radar installations and emits at least one if detecting that radar installations receives the signal of return
The first time of signal and radar installations receive the second time of at least one signal returned.
Step S106, according at the first time and the second time time difference determine between radar installations and barrier away from
From, wherein at least one signal encounters barrier and reflects.
Step S108 determines the profile of barrier according at least one signal returned.
Through the above steps, measurement barrier may be implemented away from radar installations using the fuzzy imaging of radar and distance measurement function
Distance and draw barrier profile schematic diagram technical effect.The fuzzy imaging of radar and distance measurement function are applied and are in reversing
In system, following technical problem can solve:
Solve the problems, such as that vehicle backing mirror and backup camera can not dead detecting angles；Solve vehicle ultrasonic distance measurement reversing system
System can not identify the problem of specific barrier in the whole body；Vehicle is solved in night, rainy day or rather dark situation, human eye pair
The problem of capture sensitivity of camera image can reduce.
It is above-mentioned if detecting that radar installations receives the signal of return according to an optional embodiment of the application
Method further include: whether detection radar installations receives phase frequency-shift signaling, wherein phase frequency-shift signaling is frequency positioned at default
The low frequency signal in section；If detecting phase frequency-shift signaling, determine that barrier is motion state；If phase shift is not detected
Frequency signal determines that barrier is stationary state.
According to an optional embodiment of the application, if the microwave for encountering radar installations transmitting encounters mobile object,
Then back wave relative transmission wave just has phase change, and back-shaped antenna receives reflection signal, between back wave and transmitted wave
Phase shift frequency will be exported with the low frequency of 3-20MHz or so.When it is implemented, illustrating to send out if detecting phase frequency-shift signaling
The phase of ejected wave and back wave changes, and the phase difference of the two is not zero, and illustrates that barrier is kept in motion；If do not examined
Phase frequency-shift signaling is measured, illustrates that phase change does not occur for transmitted wave and back wave, illustrates that barrier remains static.
It is above-mentioned if detecting that radar installations receives the signal of return in some optional embodiments of the application
Method further include: determine that the first phase when transmitting of at least one signal, phase are the phase of the waveform of at least one signal；Really
Surely the second phase of at least one signal received；Phase difference according to first phase and second phase determines the shape of barrier
State.
According to an optional embodiment of the application, the phase difference according to first phase and second phase determines barrier
State, comprising: if phase difference is zero, determine barrier be stationary state；If phase difference is greater than zero, determine that barrier is
Motion state.
It, can also be by the phase difference of calculating transmitted wave and back wave, really in some optional embodiments of the application
Whether phase bit changes, if phase changes, illustrates that barrier is kept in motion；If phase does not become
Change, illustrates that barrier remains static.
In some optional embodiments of the application, the time difference according to first time and the second time determines that radar fills
Set the distance between barrier, comprising: determine the product of the spread speed of time difference and microwave signal；The half of product
For the distance between radar installations and barrier.
If the spread speed of microwave is v, the time difference of transmitted wave and back wave is t, then the propagation distance s of the microwave signal
=1/2 (v*t), wherein most short propagation distance, that is, obstacle distance radar of the microwave signal between radar installations and barrier
The shortest straight line distance of device.
In some optional embodiments of the application, the profile of barrier is determined according at least one signal returned,
Further include: the height and/or width of barrier are calculated using distance and the launch angle of at least one signal；According to height and/
Or width determines the profile of barrier.
Fig. 2 is a kind of schematic diagram using microwave radar range according to the embodiment of the present application, as shown in Fig. 2, with radar
Space coordinates are established centered on device, it is assumed that the angle of the transmitting receiving direction of microwave signal S1 and x-axis is α, S1 transmitted wave
Time difference with back wave is t1, and the transmitting receiving direction of microwave signal S2 and the angle of x-axis are β, S1 transmitted wave and back wave
Time difference be t2, the spread speed of microwave is v, then the height h=v*t1*sin α+v*t2*sin β of barrier similarly may be used also
To calculate the width of barrier, in other words, and then the general profile of barrier is determined.
In some optional embodiments of the application, before executing step S102, the above method further include: detection is taken the photograph
As whether head collects the image of barrier；If camera does not collect the image of barrier, triggering radar installations emit to
A few signal；If camera collects the image of barrier, refusal triggering radar installations emits at least one signal.
Fig. 3 is according to a kind of schematic diagram of backing system of the embodiment of the present application, as shown in figure 3, being arranged in vehicle tail
There are at least one microwave radar installation point and camera installation point, microwave radar can calculate back wave by receiving back wave
Time difference and phase shift frequency between transmitted wave reach ranging and fuzzy imaging to determine the approximate distance and profile of object
Effect.Comprehensive backup camera and microwave radar, are added microwave radar in existing backing system, blind for solving visual angle
The problem of area.
Obstacle is collected it should be noted that first detecting backing system before opening radar installations and whether passing through camera
The image of object does not need to open radar system, if camera does not collect if camera collects the image of barrier
The image of barrier needs to open radar installations and further detects vehicle periphery whether there are obstacles, if there is obstacle
Object, the general profile of distance and barrier according to the received back wave disturbance in judgement object of radar installations apart from vehicle.
According to an optional embodiment of the application, after determining barrier, the above method further include: determine obstacle
The type of object.
After radar installations unlatching, first by microwave radar and camera collect ambient data (obstacle distance, greatly
It is small, the information such as shape), then uniform transmission to controller, is handled these data by controller, analysis, combined data
Draw out the schematic diagram of the periphery barrier centered on vehicle.Because the microwave frequency of microwave radar transmitting is in 300MHz-
Between 300GHz, wavelength has between 1m-0.1mm and penetrates, reflects and absorb three characteristics.So can be only achieved in light
Dim, in the case of camera imaging is fuzzy, microwave radar can still be collected into data, transfer to CPU processing, analysis, according to
Collected data system voluntarily judges the figure and features feature of the object, so that it is determined that the object identity (cat, the animals such as dog or
It is adult, child either old man), the profile schematic diagram of a barrier is then drawn out according to these information.So that is,
Make to be the rainy day, haze sky, above-mentioned backing system can still work normally.
In some optional embodiments of the application, the above method further include: between radar installations and barrier
When distance is less than or equal to pre-determined distance, warning note is issued.
According to the ranging of microwave radar, in conjunction with the sighting distance of camera, the distance of disturbance in judgement object, when hypotelorism, language
System for electrical teaching can issue alarm voice, and voice system can be according to the identity of the barrier of network analysis, in conjunction with obstacle distance
The audio alert of hommization can be provided.Such as: " you apart from vehicle back wall less than one meter, Please drive carefully, thanks！", " your seat
Drive five meter You Yi children of right back, it is noted that, it thanks！".
By the above method, the visual angle blind zone that there are problems that camera can not be shot in backing system is not only solved,
And can in external environment to camera by seriously affecting when, do not influence still vehicle backing system operate normally.
Fig. 4 is according to a kind of structure chart of the determining device of barrier of the embodiment of the present application, as shown in figure 4, the device
Include:
Trigger module 40 emits at least one signal for triggering radar installations, and detects whether radar installations receives
The signal of return.
Module 42 is obtained, for obtaining radar installations in the case where detecting that radar installations receives the signal of return
The first time and radar installations that emit at least one signal receive the second time of at least one signal returned.
First determining module 44, for determining radar installations and barrier according to the time difference at the first time with the second time
The distance between, wherein at least one signal encounters barrier and reflects.
Second determining module 46, for determining the profile of barrier according at least one signal returned.
It should be noted that the correlation that the preferred embodiment of embodiment illustrated in fig. 4 may refer to embodiment illustrated in fig. 1 is retouched
It states, details are not described herein again.
Fig. 5 is according to a kind of structure chart of Car reversion image-forming equipment of the embodiment of the present application, as shown in figure 5, the equipment includes:
At least one radar installations 50 is arranged on vehicle, for emitting at least one signal.
Radar is also referred to as " radio-positioning ", is to be irradiated and receive its echo to target using microwave, thus obtains
Target is obtained to information such as the distance of Microwave emission point, range rate (radial velocity), orientation, height.Microwave radar is shaken by RC
It swings circuit and generates high-frequency signal, the frequency f=1/2 π RC of RC oscillating circuit amplifies the micro- of transmitting 2.4G-3.2GHz through triode
Wave signal.If encountering fixed object, ranging can be carried out according to the time difference between transmitted wave and back wave, learn object
Size and profile.
Controller 52 is communicated at least one radar installations, for triggering at least one radar installations 50 transmitting at least one
A signal, and detect the signal whether radar installations receives return；Detecting that radar installations receives the signal of return
In the case of, obtain at least one letter that radar installations emits the first time of at least one signal and radar installations reception returns
Number the second time；The distance between radar installations and barrier are determined according to the time difference at the first time with the second time,
In, at least one signal encounters barrier and reflects；The profile of barrier is determined according at least one signal returned.
At least one camera 54 is arranged on vehicle, communicates with controller 52, for acquiring the image of barrier.
According to an optional embodiment of the application, at least one camera 54 is provided on vehicle, for acquiring barrier
The image for hindering object, is used cooperatively with microwave radar device, comprehensive backup camera and microwave radar, in existing backing system
Microwave radar is added, for solving the problems, such as that there are visual angle blind zones in existing backing system.
According to the embodiment of the present application in another aspect, additionally providing a kind of storage medium, storage medium includes the journey of storage
Sequence, wherein the determination method of the barrier more than equipment execution when program is run where control storage medium.
Storage medium is used to store the program for executing following functions: triggering radar installations emits at least one signal, and examines
Survey the signal whether radar installations receives return；If detecting that radar installations receives the signal of return, radar dress is obtained
It sets the first time for emitting at least one signal and radar installations receives the second time of at least one signal returned；Foundation
At the first time and the time difference of the second time determines the distance between radar installations and barrier, wherein at least one signal is met
It is reflected to barrier；The profile of barrier is determined according at least one signal returned.
According to the embodiment of the present application in another aspect, additionally providing a kind of processor, processor is used to run program,
In, the determination method of barrier when program is run more than execution.
Processor is used to run the program for executing following functions: triggering radar installations emits at least one signal, and detects
Whether radar installations receives the signal of return；If detecting that radar installations receives the signal of return, radar installations is obtained
The first time and radar installations that emit at least one signal receive the second time of at least one signal returned；According to the
The time difference of one time and the second time determine the distance between radar installations and barrier, wherein at least one signal encounters
Barrier reflects；The profile of barrier is determined according at least one signal returned.
Above-mentioned the embodiment of the present application serial number is for illustration only, does not represent the advantages or disadvantages of the embodiments.
In above-described embodiment of the application, all emphasizes particularly on different fields to the description of each embodiment, do not have in some embodiment
The part of detailed description, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, the apparatus embodiments described above are merely exemplary, such as the division of the unit, Ke Yiwei
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of unit or module
It connects, can be electrical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
On unit.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, the technical solution of the application is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can for personal computer, server or network equipment etc.) execute each embodiment the method for the application whole or
Part steps.And storage medium above-mentioned includes: that USB flash disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic or disk etc. be various to can store program code
Medium.
The above is only the preferred embodiment of the application, it is noted that for the ordinary skill people of the art
For member, under the premise of not departing from the application principle, several improvements and modifications can also be made, these improvements and modifications are also answered
It is considered as the protection scope of the application.
Claims (14)
1. a kind of determination method of barrier characterized by comprising
Triggering radar installations emits at least one signal, and detects the signal whether radar installations receives return；
If detecting that the radar installations receives the signal of return, at least one described letter of the radar installations transmitting is obtained
Number first time and the radar installations receive return at least one signal the second time；
Time difference according to the first time and second time determines the distance between the radar installations and barrier,
Wherein, at least one described signal encounters the barrier and reflects；
The profile of the barrier is determined according at least one the described signal returned.
2. the method according to claim 1, wherein if detecting that the radar installations receives the letter of return
Number, the method also includes:
Detect whether the radar installations receives phase frequency-shift signaling, wherein the phase frequency-shift signaling is that frequency is located in advance
If the low frequency signal in section；
If detecting the phase frequency-shift signaling, determine that the barrier is motion state；
If the phase frequency-shift signaling is not detected, determine that the barrier is stationary state.
3. the method according to claim 1, wherein if detecting that the radar installations receives the letter of return
Number, the method also includes:
Determine that first phase when at least one signal transmitting, the phase are the phase of the waveform of at least one signal
Position；
Determine the second phase of at least one signal received；
Phase difference according to the first phase and the second phase determines the state of the barrier.
4. according to the method described in claim 3, it is characterized in that, phase according to the first phase and the second phase
Difference determines the state of the barrier, comprising:
If the phase difference is zero, determine that the barrier is stationary state；
If the phase difference is greater than zero, determine that the barrier is motion state.
5. the method according to claim 1, wherein the signal of radar installations transmitting is believed including at least microwave
Number.
6. according to the method described in claim 5, it is characterized in that, time according to the first time and second time
Difference determines the distance between the radar installations and barrier, comprising:
Determine the product of the spread speed of the time difference and the microwave signal；
The half of the product is the distance between the radar installations and the barrier.
7. the method according to claim 1, wherein determining the barrier according at least one signal described in return
Hinder the profile of object, further includes:
The height and/or width of the barrier are calculated using the launch angle of the distance and at least one signal；
The profile of the barrier is determined according to the height and/or the width.
8. the method according to claim 1, wherein triggering radar installations emit at least one signal before,
The method also includes:
Whether detection camera collects the image of the barrier；
If the camera does not collect the image of the barrier, triggers the radar installations and emit at least one signal；
If the camera collects the image of the barrier, refusal triggers the radar installations and emits at least one signal.
9. method as claimed in any of claims 1 to 8, which is characterized in that after determining the barrier, institute
State method further include: determine the type of the barrier.
10. according to the method described in claim 9, it is characterized in that, after the type for determining the barrier, the method
Further include:
When distance between the radar installations and the barrier is less than or equal to pre-determined distance, warning note is issued.
11. a kind of determining device of barrier characterized by comprising
Whether trigger module emits at least one signal for triggering radar installations, and detect the radar installations and receive and return
The signal returned；
Module is obtained, in the case where detecting that the radar installations receives the signal of return, obtaining the radar dress
When setting the second of at least one signal of the first time for emitting at least one signal and radar installations reception return
Between；
First determining module, for according to the time difference of the first time and second time determine the radar installations and
The distance between barrier, wherein at least one described signal encounters the barrier and the second determining module of reflection occurs, and is used for
The profile of the barrier is determined according at least one the described signal returned.
12. a kind of Car reversion image-forming equipment characterized by comprising
At least one radar installations is arranged on vehicle, for emitting at least one signal；
Controller is communicated at least one described radar installations, for triggering at least one radar installations transmitting at least one
A signal, and detect the signal whether radar installations receives return；Detecting that the radar installations receives return
Signal in the case where, obtain the radar installations emit at least one signal first time and the radar installations
Receive the second time of at least one signal returned；Time difference according to the first time and second time determines institute
State the distance between radar installations and barrier, wherein at least one described signal encounters the barrier and reflects；Foundation
At least one the described signal returned determines the profile of the barrier；
At least one camera is arranged on the vehicle, communicates with the controller, for acquiring the figure of the barrier
Picture.
13. a kind of storage medium, which is characterized in that the storage medium includes the program of storage, wherein when described program is run
Control the determination method of barrier described in any one of equipment perform claim requirement 1 to 10 where storage medium.
14. a kind of processor, which is characterized in that the processor is for running program, wherein right of execution when described program is run
Benefit require any one of 1 to 10 described in barrier determination method.
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| CN201910037293.3A CN109766851A (en) | 2019-01-15 | 2019-01-15 | Method and device for determining obstacle and reversing imaging equipment |
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