CN205836663U - Vehicle-periphery sensory perceptual system - Google Patents

Abstract

This utility model discloses a kind of vehicle-periphery sensory perceptual system, system is provided with master control unit, ultrasonic radar unit output detectable signal is to ultrasonic radar controller, described ultrasonic radar controller is connected with master control unit by CAN, and described master control unit connects millimetre-wave radar unit, visually-perceptible module through CAN；The system of the utility model has the advantage of takes full advantage of existing sensor technology and is integrated, and instead of the laser radar of costliness, reduces the cost of intelligent vehicle context aware systems.Use ultrasonic radar to realize proximity detection, overcome millimetre-wave radar proximity detection blind area and the highest problem of detection accuracy.

Description

Vehicle Surrounding Perception System

technical field

The utility model relates to the technical field of smart cars, in particular to a low-cost smart car environment perception system.

Background technique

At present, in order to achieve intelligent assisted driving and automatic driving, the vehicle needs to detect the surrounding environment of the vehicle through sensors, often using vision sensors, millimeter-wave radar sensors and lidar sensors. For example, Google's smart car uses 64-line laser radar to achieve 360° detection, and then cooperates with visual sensors to realize the perception of the surrounding environment. The cost is high and it is difficult to achieve mass production.

At present, mid-to-high-end vehicles are equipped with active safety technologies such as blind spot detection, lane change assistance, 360° panorama, reversing radar, forward collision warning, and automatic emergency braking (Autonomous Emergency Braking, AEB). The sensors involved include front-view cameras and ultrasonic radars. , millimeter wave radar and other sensors. However, the overall installation cost is higher, which will increase the selling price of the vehicle.

Utility model content

The technical problem to be solved by the utility model is to realize a vehicle surrounding environment perception system with low cost and convenient use.

In order to achieve the above object, the technical solution adopted by the utility model is: a vehicle surrounding environment perception system, which is characterized in that: the system is provided with a general control unit, the ultrasonic radar unit outputs detection signals to the ultrasonic radar controller, and the ultrasonic radar controller passes The CAN bus is connected to the general control unit, and the millimeter-wave radar unit sends the detected target information to the general control unit through the CAN bus;

The ultrasonic radar unit includes an ultrasonic radar arranged at the front and rear of the vehicle to collect distance information of obstacles before and after the vehicle, and an ultrasonic radar arranged at both sides of the vehicle to collect information on the distance information of obstacles left and right of the vehicle;

The millimeter-wave radar unit includes a millimeter-wave radar arranged on both sides in front of the vehicle to collect the relative distance, speed and azimuth angle of the obstacles in the left front and right front of the vehicle, and arranged on both sides of the rear of the vehicle to collect the relative distance between the left and right rear obstacles of the vehicle. The millimeter-wave radar for distance, speed and azimuth angle, and the millimeter-wave radar for collecting the relative distance and speed of obstacles in front of the vehicle.

There are two sets of roadside radar units on each side of the vehicle, and one set is located at the front of the vehicle, and the other is located at the rear of the vehicle. The said roadside radar units output short-distance obstacle signals to the general control unit. The unit includes two radar sensors with a fixed upper and lower layout, and the distance between the radar sensors of each group of roadside radar units is less than 5cm.

The general control unit is connected to an environment sensing camera via a CAN bus, and the environment sensing camera is installed at the front of the vehicle to collect image information in front of the vehicle.

The overall control unit outputs signals to the alarm unit and display unit in the vehicle.

The overall control unit outputs control signals to the door lock control unit and the vehicle active braking control unit.

The utility model has the advantage that the system fully utilizes and integrates the existing sensor technology, replaces the expensive laser radar, and reduces the cost of the environment perception system of the intelligent vehicle. Ultrasonic radar is used to realize close-range detection, which overcomes the problems of millimeter-wave radar close-range detection blind spots and low detection accuracy.

Description of drawings

The following is a brief description of the content expressed in each piece of drawings in the specification sheet of the utility model and the marks in the figure:

Figure 1 is a block diagram of the vehicle's surrounding environment perception system;

Figure 2 is a schematic diagram of the installation of the vehicle's surrounding environment perception system;

The marks in the above figures are: 1. General control unit; 2. Ultrasonic radar unit; 3. Ultrasonic radar controller; 4. Millimeter-wave radar unit; 5. Roadside radar unit; 6. Environmental perception camera.

detailed description

This application can comprehensively utilize the existing sensor technology to replace the laser radar to realize the perception of the surrounding environment of the vehicle, realize assisted driving and automatic driving, which will greatly reduce the cost of smart car technology and accelerate the pace of smart car industrialization.

As shown in FIG. 1 , the vehicle surrounding environment perception system includes a general control unit 1 , an ultrasonic radar unit 2 , an ultrasonic radar controller 3 , a millimeter wave radar unit 4 , a roadside radar unit 5 and an environment perception camera 6 .

Ultrasonic radar unit 2 includes front short-distance target detection ultrasonic radars, preferably two; vehicle detection ultrasonic radars in the right lane of the vehicle, preferably one side four, and rear short-distance target detection ultrasonic radars, preferably two; vehicle left Vehicle detection ultrasonic radars in the side lanes, preferably four on one side; the ultrasonic radar unit 2 outputs detection signals to the ultrasonic radar controller 3, and the ultrasonic radar controller 3 is connected to the main control unit 1 through the CAN bus.

The millimeter wave radar unit 4 includes a front collision avoidance millimeter wave radar, a left and right front target detection millimeter wave radar; a left and right rear target detection millimeter wave radar, and the main control unit 1 is connected to the millimeter wave radar unit 4 via a CAN bus.

The forward collision avoidance millimeter-wave radar is used to detect the relative distance, speed and azimuth angle of moving and stationary targets in real time, further judge whether the vehicle is dangerous to go straight and the degree of danger, and whether to collect early warning or brake intervention.

The front left and right radars are used to detect the relative distance, speed and azimuth angle of moving or stationary targets in the left and right front areas of the vehicle in real time, and judge whether it is possible to turn towards the opposite direction if there is a risk of collision ahead. Adjacent lanes change lanes. At the same time, with the cooperation of the left and right side rearview radars behind the vehicle, safe lane changes can be realized.

The left and right side rear-view radars behind the vehicle are used to detect whether there are approaching vehicles directly behind the vehicle and behind the adjacent lanes on the left and right sides, assisting the vehicle to change lanes safely, identify and warn dangerous targets in blind spots, and provide early warning for vehicle door opening safety.

The environment perception camera 6 is used to cooperate with the front radar to further identify the type of the target, further judge the degree of danger of the target, and provide a basis for emergency collision avoidance. The information fusion of radar and vision can effectively improve the accuracy and effectiveness of the front environment perception.

Ultrasonic radar is used to detect the relative distance between the target within 5 meters in front of the left and right of the vehicle and the vehicle, so as to make up for the low detection accuracy of the front radar in close range. Improve the accuracy of distance detection.

Ultrasonic radar is used to detect the targets and their relative distances in the left and right adjacent lanes of the vehicle, and to detect the vehicle conditions in the adjacent lanes.

Ultrasonic radar is used to detect targets within 5 meters behind the adjacent lanes on the left and right sides of the vehicle and within 5 meters directly behind the vehicle, making up for the low detection accuracy of the rear radar at close range and improving the distance detection accuracy.

The ultrasonic radar controller 3 is used to collect 12 ultrasonic radar input signals and calculate the relative distance between the target and the radar. And through the relationship between the installation position of the radar and the vehicle coordinate system, the position information of the target relative to the vehicle is calculated.

Each side of the vehicle is provided with two groups of roadside radar units 5, and one group is located at the front of the vehicle, and the other group is located at the rear of the vehicle. The radar unit 5 outputs short-range obstacle signals to the general control unit 1, and the two groups of roadside radar units 5 on the same side are arranged at the same height. In addition, each group of roadside radar units 5 includes two radar sensors with a fixed upper and lower layout, and each The distance between the radar sensors of the group roadside radar units 5 is less than 5cm. It is fixed that the radar sensors arranged above the two groups of roadside radar units 5 on the same side are arranged at the same height, while the radar sensors located below the two groups of roadside radar units 5 on the same side are arranged The height is also the same. Through two sensors, it can accurately measure the distance between the road and the vehicle, which is convenient for the driver's side parking.

In order to improve the performance of vehicle intelligent control, the total control unit 1 outputs signals to the alarm unit and display unit in the vehicle, and at the same time the total control unit 1 outputs control signals to the door lock control unit and the vehicle active braking control unit, which can control the vehicle Active control and alarm.

The control method based on the above-mentioned vehicle surrounding environment perception system:

After the vehicle is started, the system powers on and self-inspects;

The total control unit 1 receives the signal of the ultrasonic radar unit 2 in real time, and displays the obstacle distance information on the front, rear and both sides on the display unit. If the obstacle distance is less than the set distance alarm threshold, an alarm will be issued through the alarm unit. Through this control, the driver can know the distance between the vehicle and surrounding obstacles in real time to avoid collision.

The main control unit 1 receives the signal of the millimeter-wave radar unit 4 in real time, if the current vehicle speed is greater than 20km/s (to avoid the intervention of active braking during parking and affect the parking), and the millimeter-wave radar located directly in front of the vehicle senses the obstacle ahead If the relative speed and distance values of the vehicle reach the preset active braking threshold, the active braking control unit will actively brake the vehicle.

The total control unit 1 receives the signal of the millimeter-wave radar unit 4 in real time. If the vehicle is in a stationary state, and the millimeter-wave radars located on both sides in front of the vehicle or on both sides of the rear sense that the relative speed, distance, and azimuth angle of the obstacle have reached the predetermined If the door opening collision warning value is set, the door lock control unit is controlled to only lock the door on the side where the obstacle exists, and the door lock control unit is controlled to release the door lock state after the obstacle leaves the detection range of the millimeter wave radar unit 4 for a set time. , that is, unlock after a delay for a period of time, so that obstacles that may collide have enough time to pass the vehicle.

The total control unit 1 receives the signal of the roadside radar unit 5 in real time, and the detection range of the roadside radar unit 5 is set to be 1.5m. When an obstacle is detected, the detection distance of each group of roadside radar units 5 is displayed on the display unit, and the detection distance of the roadside radar unit 5 is limited so that it can only detect the roadside, preventing other obstacles from interfering with the driver , and the detection of the roadside is generally only needed when parking, so it is activated when the vehicle speed is less than 20km/s, because the detection distance is limited, if the two groups of roadside radar units 5 on the same side detect obstacles, the vehicle There are roadsides or obstacles (other vehicles, walls, guardrails, etc.) on one side, and by displaying the detection distances of the front and rear two groups of roadside radar units 5, the driver can know whether the vehicle is right.

If the two radar sensors of the roadside radar unit 5 are in the same group, the difference between the detected distances is less than the preset value, then the displayed detection distance is the distance detected by the smaller radar sensor; the preset value can be two radars in the same group The distance between the sensors, if the difference between the two radar sensors in the same group is small or the same, it means that the height of the obstacle is close to or exceeds the arrangement position of the radar unit 5 along the road, so the detection distance of the smaller radar sensor can be displayed. A more accurate response to the relative distance between the vehicle and the obstacle.

If the difference between the detected distances of the two radar sensors in the same group of the roadside radar unit 5 is greater than or equal to the preset value, the displayed detection distance is s;

In the same group of roadside radar units 5, the distance between the radar sensor above the obstacle is H1, the distance between the radar sensor below and the obstacle is H2, and the distance between the two radar sensors is H3. H1 is calculated using H1, H2 and H3 (where side) and H3 (where the side is) and the angle α, then s=H1*sinα.

The utility model has been exemplarily described above in conjunction with the accompanying drawings. Obviously, the specific implementation of the utility model is not limited by the above-mentioned methods, as long as various insubstantial improvements are made by adopting the method concept and technical solutions of the utility model, or Directly applying the ideas and technical solutions of the utility model to other occasions without improvement is within the protection scope of the utility model.

Claims (5)

1. The surrounding environment perception system of the vehicle is characterized in that: the system is provided with a general control unit, the ultrasonic radar unit outputs detection signals to the ultrasonic radar controller, and the ultrasonic radar controller is connected with the general control unit through the CAN bus, and the millimeter wave radar unit sending the detected target information to the general control unit through the CAN bus; The ultrasonic radar unit includes an ultrasonic radar arranged at the front and rear of the vehicle to collect distance information of obstacles before and after the vehicle, and an ultrasonic radar arranged at both sides of the vehicle to collect distance information of obstacles on the left and right of the vehicle; The millimeter-wave radar unit includes a millimeter-wave radar arranged on both sides in front of the vehicle to collect the relative distance, speed and azimuth angle of the obstacles in the left front and right front of the vehicle, and arranged on both sides of the rear of the vehicle to collect the relative distance between the left and right rear obstacles of the vehicle. The millimeter-wave radar for distance, speed and azimuth angle, and the millimeter-wave radar for collecting the relative distance and speed of obstacles in front of the vehicle. 2. The vehicle surrounding environment perception system according to claim 1, wherein two groups of roadside radar units are arranged on each side of the vehicle, and one group is located at the front of the vehicle, and the other group is located at the rear of the vehicle, and the roadside radar units The unit outputs short-distance obstacle signals to the general control unit. Each group of roadside radar units includes two radar sensors with a fixed upper and lower layout, and the distance between the radar sensors of each group of roadside radar units is less than 5cm. 3. The vehicle surrounding environment perception system according to claim 1 or 2, characterized in that: the general control unit is connected to the environment perception camera via the CAN bus, and the environment perception camera is installed at the front of the vehicle to collect images in front of the vehicle information. 4 . The vehicle surrounding environment perception system according to claim 3 , wherein the overall control unit outputs a signal to an alarm unit, a display unit or an ambient light inside the vehicle. 5 . 5 . The vehicle surrounding environment perception system according to claim 4 , wherein the overall control unit outputs control signals to the door lock control unit and the vehicle active braking control unit. 6 .