CN114624686A - Vehicle-mounted ultra-low blind area double-probe ultrasonic ranging system and method - Google Patents

Abstract

The invention discloses a vehicle-mounted ultra-low blind area double-probe ultrasonic ranging system and a method. The receiving and transmitting device comprises a transmitting probe and a receiving probe, and the signal processing device comprises a main control module, a communication module, a transmitting driving module and a receiving conditioning module. The main control module is electrically connected with the transmitting probe through the transmitting driving module, and is electrically connected with the receiving probe through the receiving conditioning module. The main control module is electrically connected with the communication module, and the communication module is used for being in communication connection with the vehicle-mounted control system. The invention firstly controls the transmitting probe to send out detection ultrasonic waves through the transmitting driving module; then, receiving and detecting an echo signal of the ultrasonic wave by using a receiving probe and a receiving conditioning circuit; and then calculating and obtaining the distance information of the barrier according to the echo signals, finally sending the distance information to a vehicle-mounted control system, and receiving the echo signals without waiting after transmitting and detecting the ultrasonic waves, thereby effectively reducing the distance measuring blind area and ensuring the driving safety.

Description

A vehicle-mounted ultra-low blind spot dual-probe ultrasonic ranging system and method

technical field

The invention relates to the technical field of unmanned driving, in particular to a vehicle-mounted ultra-low blind area dual-probe ultrasonic ranging system and method.

Background technique

Self-driving cars are an indispensable technological route in the automotive field in the future. Unmanned or vehicle active safety defense systems often require the assistance of obstacle distance detection systems. Ultrasonic ranging radar is the first choice for vehicle ranging due to its advantages of low cost, wide applicability and high precision. However, due to the influence of aftershock interference remaining in the circuit after transmission, the traditional single-probe ultrasonic wave cannot immediately receive an accurate echo signal, so there is a blind area of about 30cm. Detection, the impact on small unmanned vehicles is particularly obvious. Therefore, how to improve the accuracy of radar detection and ensure the driving safety of unmanned vehicles has become an urgent problem to be solved.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide a vehicle-mounted ultra-low blind spot dual-probe ultrasonic ranging system and method, which can reduce the blind spot of ultrasonic ranging radar, improve detection accuracy, and ensure the driving safety of unmanned vehicles.

In order to solve the above-mentioned technical problems, the technical scheme adopted in the present invention is:

A vehicle-mounted ultra-low blind spot dual-probe ultrasonic ranging system, comprising a transceiver device and a signal processing device;

The transceiver device includes a transmitting probe and a receiving probe, and the signal processing device includes a main control module, a communication module, a transmission driving module and a receiving conditioning module;

The main control module is electrically connected with the transmitting probe through the transmitting driving module, and the main control module is electrically connected with the receiving probe through the receiving conditioning module;

The main control module is electrically connected with the communication module, and the communication module is used for communication connection with the vehicle-mounted control system.

In order to solve the above-mentioned technical problems, another technical scheme adopted by the present invention is:

A vehicle-mounted ultra-low blind zone dual-probe ultrasonic ranging method, applied to the above-mentioned vehicle-mounted ultra-low blind zone dual-probe ultrasonic ranging system, includes the following steps:

S1. Control the transmitting probe to send out the detection ultrasonic wave for detecting obstacles through the transmission driving module;

S2, using the receiving probe and the receiving conditioning circuit to receive the echo signal of the detected ultrasonic wave;

S3. Calculate and obtain the distance information of the obstacle according to the echo signal;

S4. Send the distance information to the vehicle-mounted control system.

The beneficial effects of the present invention are as follows: a vehicle-mounted ultra-low blind area dual-probe ultrasonic ranging system and method, in which a receiving probe specially responsible for receiving and a transmitting probe specially responsible for transmitting are used as transceiver devices, compared with a single probe used for transmitting and receiving at the same time. The design eliminates the interference caused by the aftershock interference remaining in the circuit transmitted by the probe to the reception of the echo signal. After transmitting the detection ultrasonic wave, the echo signal can be received without waiting, so as to obtain the distance information of the obstacle and report it to the vehicle control system, effectively Reduce the blind spot of ultrasonic ranging radar, improve the detection accuracy, and ensure the driving safety of unmanned vehicles.

Description of drawings

1 is a system block diagram of a vehicle-mounted ultra-low blind spot dual-probe ultrasonic ranging system according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of steps of a vehicle-mounted ultra-low blind spot dual-probe ultrasonic ranging method according to an embodiment of the present invention.

Label description:

1. Transmitting probe; 2. Receiving probe; 3. Main control module; 4. Communication module; 5. Transmitting drive module; 6. Receiving conditioning module; 7. Temperature measuring module; 8. Amplifying circuit; 9. Field effect tube drive circuit; 10. Transmitter booster transformer; 11. Band-pass filter circuit.

Detailed ways

In order to describe in detail the technical content, achieved objects and effects of the present invention, the following descriptions are given with reference to the embodiments and the accompanying drawings.

Please refer to FIG. 1 , a vehicle-mounted ultra-low blind spot dual-probe ultrasonic ranging system, including a transceiver device and a signal processing device;

The transceiver device includes a transmitting probe 1 and a receiving probe 2, and the signal processing device includes a main control module 3, a communication module 4, a transmission driving module 5 and a receiving conditioning module 6;

The main control module 3 is electrically connected to the transmitting probe 1 through the transmission driving module 5, and the main control module 3 is electrically connected to the receiving probe 2 through the receiving conditioning module 6;

The main control module 3 is electrically connected to the communication module 4, and the communication module 4 is used for communication connection with the vehicle-mounted control system.

As can be seen from the above description, the beneficial effect of the present invention is that: the receiving probe 2 specially responsible for receiving and the transmitting probe 1 specially responsible for transmitting are used as the transceiver devices, compared with the design of a single probe used for transmitting and receiving at the same time, it eliminates the residual transmission of the probe in the design. The aftershock interference of the circuit interferes with the reception of the echo signal. After the detection ultrasonic wave is transmitted, the echo signal can be received without waiting, so that the distance information of the obstacle can be obtained and reported to the vehicle control system, which effectively reduces the measurement of the ultrasonic ranging radar. It can improve the detection accuracy and ensure the driving safety of unmanned vehicles.

Further, it also includes a temperature measurement module 7 for measuring the ambient temperature;

The temperature measurement module 7 is electrically connected to the main control module 3 .

It can be seen from the above description that adding a temperature measurement module 7 to the system can detect the surrounding ambient temperature in real time, so as to accurately obtain the real-time sound speed in the air when the reflected ultrasonic wave is received, thereby helping to calculate more accurate obstacles Object distance information, improve the accuracy of distance measurement, and ensure driving safety.

Further, the transmission driving module 5 includes an amplifier circuit 8, a field effect transistor driving circuit 9 and a transmission boosting transformer 10;

The main control module 3 is connected to the input end of the field effect transistor driving circuit 9 through the amplifying circuit 8, and the output end of the field effect transistor driving circuit 9 is connected to the input end of the transmitting booster transformer 10, The transmitting step-up transformer 10 is connected to the transmitting probe 1 and used to resonate with the transmitting probe 1 .

It can be seen from the above description that the control signal sent by the main control module 3 is amplified by the amplifier circuit 8 and used to drive the field effect transistor of the field effect transistor drive circuit 9, thereby controlling the energy of the secondary coil of the transmitting booster transformer 10 and the transmitting probe. 1 is matched, and the detection ultrasonic wave is emitted through resonance.

Further, the receiving conditioning module 6 includes a band-pass filter circuit 11 and an amplifying circuit 8;

The input end of the band-pass filter circuit 11 is connected to the receiving probe 2 , and the output end of the band-pass filter circuit 11 is connected to the main control module 3 through the amplifying circuit 8 .

It can be seen from the above description that the electrical signal received and converted by the receiving probe 2 is processed by the band-pass filter circuit 11 and the amplifying circuit 8, so as to adjust the frequency band and amplitude of the electrical signal, so that the main control module 3 can sample and receive it. .

Further, the communication module 4 is a CAN bus communication module 4 .

It can be seen from the above description that the use of the bus communication module 4 to communicate with the vehicle-mounted control system has a high degree of freedom and is convenient to use.

Please refer to FIG. 2 , a vehicle-mounted ultra-low blind zone dual-probe ultrasonic ranging method, applied to the above-mentioned vehicle-mounted ultra-low blind zone dual-probe ultrasonic ranging system, includes the following steps:

S1, control the transmitting probe 1 to send out detection ultrasonic waves for detecting obstacles through the transmitting driving module 5;

S2, using the receiving probe 2 and the receiving conditioning circuit to receive the echo signal of the detected ultrasonic wave;

S3. Calculate and obtain the distance information of the obstacle according to the echo signal;

S4. Send the distance information to the vehicle-mounted control system.

As can be seen from the above description, the beneficial effect of the present invention is that the receiving and transmitting probe 2 specially responsible for receiving and the transmitting probe 1 specially responsible for transmitting carry out the receiving and transmitting of ultrasonic waves respectively. The probe transmits the interference of aftershock interference remaining in the circuit to the reception of the echo signal. After transmitting the detection ultrasonic wave, it can receive the echo signal without waiting, so as to obtain the distance information of the obstacle and report it to the vehicle control system, which effectively reduces the ultrasonic detection. It can improve the detection accuracy and ensure the driving safety of unmanned vehicles.

Further, the step S2 also includes:

Obtain the ambient temperature through the temperature measurement module 7 while receiving the echo signal;

The step S3 is specifically:

S31, calculating the real-time speed of sound according to the ambient temperature;

S32, calculating the time difference between transmitting the detection ultrasonic wave and receiving the echo signal;

S33. Obtain the distance information according to the real-time sound speed and the time difference.

It can be seen from the above description that the temperature measurement module 7 is used to detect the surrounding ambient temperature in real time, so as to accurately obtain the real-time sound speed in the air when the reflected ultrasonic wave is received, thereby helping to calculate more accurate obstacle distance information and improve The accuracy of distance measurement ensures driving safety.

Further, the step S1 is specifically:

S11, sending out a square wave signal with the same frequency as the transmitting probe 1;

S12, amplify the square wave signal to drive the FET drive circuit 9;

S13 , controlling the resonance of the transmitting probe 1 through the FET driving circuit 9 to emit the detection ultrasonic wave.

It can be seen from the above description that the control signal sent by the main control module 3 is amplified by the amplifier circuit 8 and used to drive the field effect transistor of the field effect transistor drive circuit 9, thereby controlling the energy of the secondary coil of the transmitting booster transformer 10 and the transmitting probe. 1 is matched, and the detection ultrasonic wave is emitted through resonance.

Further, the step S2 is specifically:

S21, using the receiving probe 2 to convert the received reflected ultrasonic waves into electrical signals;

S22, performing bandpass filtering and amplifying processing on the electrical signal to obtain a preprocessed signal;

S23, performing analog-to-digital conversion sampling on the preprocessed signal at a sampling frequency higher than a preset multiple of the resonant frequency of the transmitting probe 1 to obtain a sampling signal;

S24. Perform Fourier transform on the sampled signal to remove interference signals to obtain the echo signal.

It can be seen from the above description that the electrical signal received and converted by the receiving probe 2 is processed by the band-pass filter circuit 11 and the amplifying circuit 8, so as to adjust the frequency band and amplitude of the electrical signal, so that the main control module 3 can sample it. Receive, and filter out the interference signal through Fourier transform to get the accurate echo signal.

Further, the step S4 is specifically:

The distance information is sent to the vehicle-mounted control system through the CAN bus communication module 4 .

It can be seen from the above description that the use of the bus communication module 4 to communicate with the vehicle-mounted control system has a high degree of freedom and is convenient to use.

A vehicle-mounted ultra-low blind spot dual-probe ultrasonic ranging system and method of the present invention can be applied to the scene of vehicle-mounted ultrasonic ranging, and the following will be described by specific embodiments:

Please refer to FIG. 1, the first embodiment of the present invention is:

A vehicle-mounted ultra-low blind spot dual-probe ultrasonic ranging system, as shown in Figure 1, includes a transceiver device, a temperature measurement module 7 and a signal processing device. The transceiver device includes a transmitting probe 1 and a receiving probe 2 . Moreover, both the transmitting probe 1 and the receiving probe 2 are ultrasonic transducer probes, one has only a transmitting mode, and the other has only a receiving mode. The signal processing device includes a main control module 3 , a communication module 4 , a transmission driving module 5 and a receiving conditioning module 6 .

As shown in the figure, the main control module 3 is electrically connected to the transmitting probe 1 through the transmission driving module 5 , and the main control module 3 is electrically connected to the receiving probe 2 through the receiving conditioning module 6 . The main control module 3 is electrically connected with the communication module 4, and the communication module 4 is used for communication connection with the vehicle-mounted control system. The temperature measurement module 7 is electrically connected to the main control module 3 .

In this embodiment, the existing single-probe design for ultrasonic transmission and reception has the problem that aftershock interference remaining in its circuit after the single-probe transmits ultrasonic waves affects the received reflected ultrasonic waves, resulting in that the probe needs to wait for a certain time after the transmission is completed. The reflected echo signal can only be received accurately, so the probe has a close-range blind area of about 30cm, and the ultrasonic ranging system of this embodiment overcomes the above problem, using two ultrasonic transducer probes respectively responsible for transmitting and receiving, after one transmitting probe 1 emits ultrasonic waves, the other receiving probe 2 can receive the echo signal immediately without waiting, so it can detect the obstacles in the blind area of the existing single-probe ultrasonic ranging system.

In this embodiment, the transmission driving module 5 includes an amplifier circuit 8 , a field effect transistor driving circuit 9 and a transmission boosting transformer 10 . The main control module 3 is connected to the input end of the field effect transistor drive circuit 9 through the amplifier circuit 8 , the output end of the field effect transistor drive circuit 9 is connected to the input end of the transmitting booster transformer 10 , and the transmitting booster transformer 10 is connected to the transmitting probe 1 . And it is used to resonate with the transmitting probe 1 .

In this embodiment, the receiving conditioning module 6 includes a band-pass filtering circuit 11 and an amplifying circuit 8 . The input end of the band-pass filter circuit 11 is connected to the receiving probe 2 , and the output end of the band-pass filter circuit 11 is connected to the main control module 3 through the amplifier circuit 8 .

In addition, in this embodiment, the communication module 4 is the CAN bus communication module 4 . In other equivalent real-time examples, the communication module 4 may also use other communication modules 4 such as RS485 to communicate with the vehicle-mounted control system.

Please refer to Fig. 2, the second embodiment of the present invention is:

A vehicle-mounted ultra-low blind zone dual-probe ultrasonic ranging method, which is applied to the vehicle-mounted ultra-low blind zone dual-probe ultrasonic ranging system of the first embodiment, as shown in FIG. 2 , includes the following steps:

S1, control the transmitting probe 1 to send out detection ultrasonic waves for detecting obstacles through the transmitting driving module 5;

In this embodiment, step S1 specifically includes the following processes:

S11, sending out a square wave signal with the same frequency as the transmitting probe 1;

S12, amplify the square wave signal to drive the FET drive circuit 9;

S13 , controlling the resonance of the transmitting probe 1 through the FET driving circuit 9 to emit the detection ultrasonic wave.

In the above process, the field effect transistor of the field effect transistor driving circuit 9 is connected with the transmitting booster transformer 10 for controlling it to boost output. The square wave signal is at the same frequency as the transmitting probe 1 , which also determines that the inductive signal of the secondary boosting coil of the transmitting booster transformer 10 is at the same frequency as the transmitting probe 1 . Since the transmitting probe 1 can be equivalently modeled as a capacitor, the inductance of the secondary boosting coil of the step-up transformer should match the transmitting probe 1 . When the two resonate, they can emit sinusoidal ultrasonic waves with the largest amplitude.

S2, use the receiving probe 2 and the receiving conditioning circuit to receive the echo signal of the detected ultrasonic wave, and simultaneously obtain the ambient temperature through the temperature measuring module 7;

In this embodiment, the process of receiving the echo signal specifically includes:

S21, using the receiving probe 2 to convert the received reflected ultrasonic waves into electrical signals;

Among them, the receiving probe 2 uses a transducer to convert the ultrasonic waves that can be received in the air into electrical signals.

S22, performing bandpass filtering and amplifying processing on the electrical signal to obtain a preprocessed signal;

S23, performing analog-to-digital conversion sampling on the preprocessed signal at a sampling frequency higher than a preset multiple of the resonant frequency of the transmitting probe 1 to obtain a sampling signal;

The preset multiple can be selected to be 2 times, that is, AD sampling is performed on the electrical signal at a sampling frequency that is twice higher than the resonant frequency of the transmitting probe 1 .

S24. Perform Fourier transform on the sampled signal to remove interference signals to obtain the echo signal.

In this embodiment, Fourier transform is performed on the sampled signal data group, and the amplitude information of each frequency component signal in the signal can be obtained, thereby eliminating the problems caused by the generator, engine, executive motor and switching power supply on the vehicle system. A series of interference sources such as interference.

S3. Calculate and obtain the distance information of the obstacle according to the echo signal;

In this embodiment, the specific calculation process of step S3 is:

S31, calculating the real-time speed of sound according to the ambient temperature;

In this embodiment, the sound velocity formula is quoted:

Among them, v represents the real-time sound speed, and T represents the ambient temperature. As a result, the influence of the ambient temperature is comprehensively considered, so as to obtain a more accurate real-time sound speed.

S32, calculating the time difference between transmitting the detection ultrasonic wave and receiving the echo signal;

S33. Obtain the distance information according to the real-time sound speed and the time difference.

In this embodiment, the distance information is calculated using the speed distance formula:

s=vt

Among them, s represents the distance information; t represents the time difference.

S4. Send the distance information to the vehicle-mounted control system.

In this embodiment, the distance information is specifically sent to the vehicle-mounted control system through the CAN bus communication module 4 to assist the vehicle in avoiding obstacles.

To sum up, the present invention discloses a vehicle-mounted ultra-low blind zone dual-probe ultrasonic ranging system and method. The design of transceiver eliminates the interference caused by the aftershock interference remaining in the circuit transmitted by the probe to the reception of the echo signal. After the probe ultrasonic wave is transmitted, the echo signal can be received without waiting. Combined with the influence of the ambient temperature on the speed of sound, the calculation is more accurate. The distance information of obstacles is obtained, and the distance information of obstacles is obtained and reported to the vehicle control system, which can effectively reduce the blind spot of ultrasonic ranging radar, improve the detection accuracy, and ensure the driving safety of unmanned vehicles.

The above descriptions are only examples of the present invention, and are not intended to limit the scope of the patent of the present invention. Any equivalent transformations made by using the contents of the description and drawings of the present invention, or directly or indirectly applied in related technical fields, are similarly included in the within the scope of patent protection of the present invention.

Claims (10)

1. a vehicle-mounted ultra-low blind spot dual-probe ultrasonic ranging system, is characterized in that, comprises transceiver and signal processing device; The transceiver device includes a transmitting probe and a receiving probe, and the signal processing device includes a main control module, a communication module, a transmission driving module and a receiving conditioning module; The main control module is electrically connected with the transmitting probe through the transmitting driving module, and the main control module is electrically connected with the receiving probe through the receiving conditioning module; The main control module is electrically connected with the communication module, and the communication module is used for communication connection with the vehicle-mounted control system. 2. a kind of vehicle-mounted ultra-low blind spot dual-probe ultrasonic ranging system according to claim 1, is characterized in that, also comprises the temperature measuring module for measuring ambient temperature; The temperature measurement module is electrically connected to the main control module. 3. a kind of vehicle-mounted ultra-low blind spot dual-probe ultrasonic ranging system according to claim 1, is characterized in that, described launch drive module comprises amplifier circuit, FET drive circuit and launch boost transformer; The main control module is connected to the input end of the field effect transistor drive circuit through the amplifying circuit, the output end of the field effect transistor drive circuit is connected to the input end of the transmission booster transformer, and the transmission booster A transformer is connected to the transmitting probe and used to resonate with the transmitting probe. 4. A vehicle-mounted ultra-low blind spot dual-probe ultrasonic ranging system according to claim 1, wherein the receiving conditioning module comprises a band-pass filter circuit and an amplifying circuit; The input end of the band-pass filter circuit is connected to the receiving probe, and the output end of the band-pass filter circuit is connected to the main control module through the amplifying circuit. 5 . The vehicle-mounted ultra-low blind spot dual-probe ultrasonic ranging system according to claim 1 , wherein the communication module is a CAN bus communication module. 6 . 6. A vehicle-mounted ultra-low blind zone dual-probe ultrasonic ranging method, applied to any one of claims 1 to 5, a vehicle-mounted ultra-low blind zone dual-probe ultrasonic ranging system, is characterized in that, comprising the steps: S1. Control the transmitting probe to send out the detection ultrasonic wave for detecting obstacles through the transmission driving module; S2, using the receiving probe and the receiving conditioning circuit to receive the echo signal of the detected ultrasonic wave; S3. Calculate and obtain the distance information of the obstacle according to the echo signal; S4. Send the distance information to the vehicle-mounted control system. 7. a kind of vehicle-mounted ultra-low blind spot dual-probe ultrasonic ranging method according to claim 6, is characterized in that, described step S2 also comprises: Obtain the ambient temperature through the temperature measurement module while receiving the echo signal; The step S3 is specifically: S31, calculating the real-time speed of sound according to the ambient temperature; S32, calculating the time difference between transmitting the detection ultrasonic wave and receiving the echo signal; S33. Obtain the distance information according to the real-time sound speed and the time difference. 8. A vehicle-mounted ultra-low blind spot dual-probe ultrasonic ranging method according to claim 6, wherein the step S1 is specifically: S11. Send out a square wave signal with the same frequency as the transmitting probe; S12, amplify the square wave signal to drive the FET drive circuit; S13, controlling the resonance of the transmitting probe through the FET driving circuit to emit the detection ultrasonic wave. 9. a kind of vehicle-mounted ultra-low blind zone dual-probe ultrasonic ranging method according to claim 6, is characterized in that, described step S2 is specifically: S21, using the receiving probe to convert the received reflected ultrasonic waves into electrical signals; S22, performing bandpass filtering and amplifying processing on the electrical signal to obtain a preprocessed signal; S23, performing analog-to-digital conversion sampling on the preprocessed signal at a sampling frequency higher than a preset multiple of the resonant frequency of the transmitting probe to obtain a sampling signal; S24. Perform Fourier transform on the sampled signal to eliminate interference signals to obtain the echo signal. 10. A vehicle-mounted ultra-low blind spot dual-probe ultrasonic ranging method according to claim 6, wherein the step S4 is specifically: The distance information is sent to the vehicle-mounted control system through the CAN bus communication module.

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