CN104678402B - A kind of radar dispatching method for auxiliary of parking - Google Patents
A kind of radar dispatching method for auxiliary of parking Download PDFInfo
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- CN104678402B CN104678402B CN201510131553.5A CN201510131553A CN104678402B CN 104678402 B CN104678402 B CN 104678402B CN 201510131553 A CN201510131553 A CN 201510131553A CN 104678402 B CN104678402 B CN 104678402B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a kind of radar dispatching method for auxiliary of parking, including：After primary radar scheduling is started, alternately a sensor of a sensor of radar and rear radar sends drive signal forward, obstacle detection is carried out to activate respective sensor transmitting ultrasonic wave, current primary radar scheduling is completed untill all the sensors of radar forward and all the sensors of rear radar respectively send the once drive signal；Wherein, forward radar sensor send two neighboring drive signal time interval, and the time interval for the two neighboring drive signal that the sensor of radar is sent is all higher than or equal to the safety time of setting backward, the safety time is the shortest time for two normal operation of sensor for making installation site adjacent.The radar dispatching method of the present invention can shorten the time for carrying out primary radar scheduling half, and then can effectively improve the reaction sensitivity and detection accuracy of parking assisting system.
Description
Technical field
The present invention relates to ancillary technique of parking, more particularly to auxiliary of parking radar dispatching method.
Background technology
Reverse radar system is maturely applied to automobile market very much at this stage, and reverse radar system is in automobile tail
Install sensor (being specially ultrasonic sensor), and the alarm that triggering buzzer is sent after sensor detects barrier,
So, driver just can be according to the situation at alarm decision car rear.By body electronics continue to develop and market demand, it is single
Pure reverse radar system can not meet the demand of client, although reversing visible system compensate for reverse radar system not
Foot, but radar is into the trend of the market demand before increase, this occurred as soon as with preceding radar and rear radar park it is auxiliary
Auxiliary system, this kind of parking assisting system allows the operator to judge vehicle periphery by the sensor of preceding radar and rear radar
Barrier, and the monitoring to vehicle front blind area therefore is added during parking, effectively increase the security parked.It is existing
Some parking assisting systems.
As shown in figure 1, for most of parking assisting system, there are its preceding radar four sensors (to be specially ultrasonic wave
Sensor, or in ultrasonic probe), respectively two two side sensers and two intermediate sensors, two side sensers include
Front left sensor FL and front right sensor FR, intermediate sensor includes sensor FRM in sensor FLM in front left and front right；Its
Radar equally has four sensors, respectively two two side sensers and two intermediate sensors afterwards, and two side sensers include
Rear left sensor RL and rear right sensor RR, intermediate sensor includes sensor RRM in sensor RLM in rear left and rear right.
For the parking assisting system shown in Fig. 1, as shown in Fig. 2 it is when park auxiliary control, generally by preceding thunder
The front investigative range of four sensors reached is divided into from the close-by examples to those far off four front search coverages, and by the four of rear radar
The rear investigative range of individual sensor is divided into five rear search coverages from the close-by examples to those far off, is specially：Four of preceding radar
Sensor have respectively with each corresponding four fronts search coverages, wherein, the first front detecting area of four sensors
Domain FL1, FLM1, FRM1, FR1 be more than or equal to default first front truck away from, the second front search coverage FL2, FLM2,
FRM2, FR2 be more than or equal to default second front truck away from, less than the first front truck away from, the 3rd front search coverage FL3, FLM3,
FRM3, FR3 be more than or equal to default 3rd front truck away from, less than the second front truck away from, the 4th front search coverage FL4, FLM4,
FRM4, FR4 be less than the 3rd front truck away from；First rear search coverage RL1, RLM1, RRM1, RR1 is more than or equal to default the
One rear car is away from second rear search coverage RL2, RLM2, RRM2, RR2 is more than or equal to default second rear car away from less than institute
The first rear car is stated away from the 3rd rear search coverage RL3, RLM3, RRM3, RR3 is more than or equal to default 3rd rear car away from small
In second rear car away from the 4th rear search coverage RL4, RLM4, RRM4, RR4 is more than or equal to default 4th rear car
Away from, less than the 3rd rear car away from, the 5th rear search coverage RL5, RLM5, RRM5, RR5 be less than the 4th rear car away from.Here, on
State the first to the 3rd front truck away from can be according to sensor investigative range and to traffic safety influence setting, according to the above description may be used
Know, first, second, third front truck therein is away from the trend of tapering off, for example, above-mentioned first front truck is away from for 1000mm, the second front truck
Away from for 600mm, the 3rd front truck away from for 350mm, wherein, the first front search coverage FL1 of aforementioned four sensor, FLM1,
FRM1, FR1, and the second front search coverage FL2, FR2 of two side sensers is traffic safety area, i.e., nearest barrier is in the area
It is safe in domain, preceding buzzer does not pipe；Second front search coverage FLM2, FRM2 of two intermediate sensors is jogging
Area, the 3rd front search coverage FL3, FLM3, FRM3, FR3 of four sensors is alert zone, the 4th front of four sensors
Search coverage FL4, FLM4, FRM4, FR4 are hazardous area.Similarly, above-mentioned first to fourth rear car is away from can be according to the detection of sensor
Scope and to traffic safety influence setting, according to the above description understand, first, second, third, fourth rear car therein away from
Decline trend, for example, above-mentioned first rear car is away from for 1500mm, the second rear car is away from for 1000mm, and the 3rd rear car is away from for 600mm,
Four rear cars away from for 350mm, wherein, first rear search coverage RL1, RLM1, RRM1, RR1 of aforementioned four sensor, and both sides
Second rear search coverage RL2, RR2 of sensor and the 3rd rear search coverage RL3, RR3 are traffic safety area, i.e., hinder recently
It is safe in the region to hinder thing, and rear buzzer does not pipe；Second rear search coverage RLM2 of two intermediate sensors,
RRM2 is precautionary areas, and the 3rd rear search coverage RLM3, RRM3 of two intermediate sensors is jogging area, the of four sensors
Four rear search coverage RL4, RLM4, RRM4, RR4 are alert zone, the 5th rear search coverage RL5 of four sensors, RLM5,
RRM5, RR5 are hazardous area.
According to above-mentioned secondary control scheme of parking, as shown in figure 1, the controller U1 of parking assisting system is detecting driving
When member's parking through auxiliary switch KPAS outputs of parking aids in open signal, or reverse gear shift is switched to detecting gear level
When (R gears), that is, trigger R position switch KR output reverse gear signal when, often once dispatched when being accomplished by setting by rigid line interval
Between successively to each sensor send drive signal, to activate each sensor successively, and then each sensor is launched ultrasound successively
Ripple carries out obstacle detection, and to avoid the occurrence of the problem of e.g. adjacent sensors are interfered, this interferes major embodiment
It can be received, and be judged by accident by other sensor by other sensor closer to the distance in the ultrasonic wave of a sensor emission
To be the echo of oneself issued ultrasonic wave, there is mistake in this distance detection that will result directly in sensor.Based on the purpose,
Above-mentioned setting time is difficult too short, should generally be more than or equal to 30ms, this reduces each sensor in each scheduling
Synchronism, and make it that time for once being dispatched of controller is longer, and then have impact on the sensitivity of parking assisting system
And accuracy.
The content of the invention
The purpose of the embodiment of the present invention be in order to solve that time that existing radar dispatching method is present is longer and synchronism compared with
Poor the problem of, can improve the radar dispatching method of parking assisting system sensitivity and accuracy there is provided a kind of.
To achieve these goals, the technical solution adopted by the present invention is：A kind of radar dispatching method for auxiliary of parking, bag
Include：
After primary radar scheduling is started, alternately a sensor of a sensor of radar and rear radar is sent forward
Drive signal, with activate respective sensor transmitting ultrasonic wave carry out obstacle detection, until forward all the sensors of radar and
The all the sensors of radar complete current primary radar scheduling afterwards untill respectively sending the once drive signal；Wherein, thunder forward
The time interval for the two neighboring drive signal that the sensor reached is sent is more than or equal to the safety time of setting, backward radar
Sensor send two neighboring drive signal time interval be more than or equal to the safety time, the safety time
To make the shortest time of two adjacent normal operation of sensor of installation site.
Preferably, the alternating forward a sensor of radar and rear radar a sensor send drive signal
Including：
Alternately a sensor of a sensor of radar and rear radar sends drive to the fixed setting time in interval forward
Dynamic signal, the setting time is more than or equal to the safety time of half, and less than the safety time.
Preferably, the safety time is more than or equal to 30ms.
Preferably, the alternating forward a sensor of radar and rear radar a sensor send drive signal
Including：
Alternately a sensor of a sensor of radar and rear radar sends drive signal, and first radar backward forward
A sensor send the drive signal.
Preferably, methods described also includes：
In primary radar scheduling is carried out, sequentially each sensor of radar sends the drive signal forward；And/or,
In primary radar scheduling is carried out, sequentially each sensor of radar sends the drive signal backward.
Preferably, the preceding radar includes sensing along the front left that the front end cambered surface of automobile is sequentially arranged from left to right
Sensor and front right sensor in sensor, front right in device, front left, the rear radar are included along the rear end cambered surface of automobile from a left side
The rear left sensor that is sequentially arranged to the right side, sensor and rear right sensor in sensor, rear right in rear left.
Preferably, the alternating forward a sensor of radar and rear radar a sensor send drive signal
Including：
The sensor in sensor, rear right in sensor, front left, preceding into rear left sensor, front left sensor, rear left successively
Sensor, rear right sensor and front right sensor send the drive signal in the right side.
The beneficial effects of the present invention are the radar dispatching method of, of the invention auxiliary of parking using preceding radar sensor with
Space length afterwards between radar sensor is larger, and ultrasonic wave and the transmitting of rear radar sensor of the transmitting of preceding radar sensor
Ultrasonic wave is in opposite direction, therefore the characteristics of will not interfere, and passes through an alternately sensor and rear thunder for radar forward
The time for carrying out primary radar scheduling can be shortened half by the mode that the sensor reached sends drive signal, and then can be had
Effect improves the reaction sensitivity and detection accuracy of parking assisting system.
Brief description of the drawings
Fig. 1 shows a kind of frame principle figure of implementation structure of existing parking assisting system；
Fig. 2 shows the preceding radar sensor of existing parking assisting system and a kind of arrangement of rear radar sensor；
Fig. 3 shows and respectively passed according to the radar dispatching method scheduling graph 2 of the auxiliary of parking of the present invention
The scheduling timing diagram of sensor.
Description of reference numerals：
U1- controllers；KPAS- parks auxiliary switch；
KR-R position switch；KEPB- electronic parkings are switched；
TCU- automatic gear-box control units；ESC- ESP control systems；
FL- front left sensors；FR- front right sensors；
Sensor in FLM- front lefts；Sensor in FRM- front rights；
RL- rear left sensors；RR- rear right sensors；
Sensor in RLM- rear lefts；Sensor in RRM- rear rights.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, is only used for explaining the present invention, and is not construed as limiting the claims.
The present invention is same in each scheduling for each sensor for solving existing backup radar dispatching method presence of parking
Step property is poor, carries out that the reaction of parking assisting system can be effectively improved there is provided a kind of the problem of a scheduling time is longer
Sensitivity and the radar dispatching method for detecting accuracy, this kind of radar dispatching method be specially：After primary radar scheduling is started,
Alternately a sensor of a sensor of radar and rear radar sends drive signal forward, to activate respective sensor transmitting
Ultrasonic wave carries out obstacle detection, until all the sensors of all the sensors of radar and rear radar respectively send once institute forward
Current primary radar scheduling is completed untill stating drive signal；Wherein, the two neighboring driving letter that the sensor of radar is sent forward
Number time interval be more than or equal to the safety time of setting, occur with two sensors of the priority action of radar before preventing
Interfere, that is, prevent the sensor first acted by the ultrasonic wave of the sensor emission of rear action be mistaken for that its own transmission goes out it is super
The echo of sound wave, similarly, the time interval for the two neighboring drive signal that the sensor of radar is sent is more than or equal to backward
The safety time, is interfered with two sensors for preventing the priority of rear radar from acting, therefore, the safety time should
To make the shortest time of adjacent two normal operation of sensor (not occurring above-mentioned interfere) of installation site, for such as scheming
The general arrangement of preceding radar and rear radar in parking assisting system shown in 1 and Fig. 2, the safety time be typically larger than or
Equal to 30ms, therefore, in order that the time for carrying out primary radar scheduling is short as much as possible, in the present invention, radar forward can be made
The time interval of two neighboring drive signal that sends of sensor be equal to the safety time, and send out the sensor of radar backward
The time interval of the two neighboring drive signal sent is equal to the safety time.
Here, the radar dispatching method of the present invention can be activated with random order preceding radar each sensor and rear radar it is each
Sensor, and after can first activating radar a sensor, a sensor of radar before also can first activating.
The radar dispatching method of the auxiliary of parking of the present invention utilizes the sky between preceding radar sensor and rear radar sensor
Between it is in larger distance, and the ultrasonic wave launched of ultrasonic wave and rear radar sensor of preceding radar sensor transmitting is in opposite direction, therefore
The characteristics of will not interfering, by the way that alternately a sensor of a sensor of radar and rear radar sends drive forward
The time for carrying out primary radar scheduling can be shortened half by the mode of dynamic signal, and then can effectively improve parking assisting system
Reaction sensitivity and detection accuracy.
For the ease of the implementation of radar dispatching method of the present invention, the sensor and rear radar of above-mentioned alternating radar forward
A sensor send drive signal may further be：The fixed setting time in interval replaces a sensor of radar forward
Drive signal is sent with a sensor of rear radar, the setting time is more than or equal to the safety time of half, and small
In the safety time of safety time, particularly equal to half, in the case where safety time is equal to 30ms, the setting time is minimum
15ms can be defined to.
Due to opening the auxiliary switch or when gear level is shifted into reverse gear shift (R gears) of parking in driver, rear radar it is fast
Fast response effect is more protruded, therefore, and a sensor of above-mentioned alternating a sensor of radar and rear radar forward is sent
Drive signal may further be：Alternately a sensor of a sensor of radar and rear radar sends drive signal forward,
And first a sensor of radar sends the drive signal backward.
Overlapping due to existing between the search coverage of two adjacent sensors of installation site, system is carrying out obstacle physical prospecting
The result of detection of two neighboring sensor can be referred to during survey, therefore, two adjacent sensors of installation site is improved and is once adjusting
Action synchronism in degree, it is possible to further improve reaction sensitivity and detection accuracy.Therefore, the method for the present invention may be used also
With including：In primary radar scheduling is carried out, sequentially each sensor of radar sends the drive signal forward；And/or, entering
In the scheduling of row primary radar, sequentially each sensor of radar sends the drive signal backward；Due to each sensor of preceding radar
It is to be sequentially arranged from left to right along the front end cambered surface of automobile, each sensor of rear radar is along the rear end cambered surface of automobile from a left side
It is sequentially arranged to the right side, therefore, " sequentially " herein can be according to order from left to right or from right to left.
For example, the radar dispatching method of the present invention is applied in parking assisting system as depicted in figs. 1 and 2, i.e., its
It is front left sensor FL that preceding radar includes being sequentially arranged from left to right along the front end cambered surface of automobile, sensor FLM in front left, preceding
Sensor FRM and front right sensor FR in the right side, thereafter radar include being sequentially arranged from left to right along the rear end cambered surface of automobile
Sensor RRM and rear right sensor RR in sensor RLM, rear right in rear left sensor RL, rear left, is to start primary radar
After scheduling, alternately a sensor of a sensor of radar and rear radar sends drive signal forward, until radar forward
Front left sensor FL, the rear left of sensor FRM and front right sensor FR and rear radar is passed in sensor FLM, front right in front left
Untill sensor RRM and rear right sensor RR respectively sends the once drive signal in sensor RLM, rear right in sensor RL, rear left
Complete the scheduling of current primary radar, for example can using it is as shown in Figure 3 successively to rear left sensor RL, front left sensor FL,
Sensor FRM, rear right sensor RR in sensor RRM, front right in sensor FLM, rear right in sensor RLM, front left in rear left
The drive signal is sent with front right sensor FR.
Fig. 3 shows the setting time fixed using the radar dispatching method interval of the present invention, successively to rear left sensor
Sensor in sensor RRM, front right in sensor FLM, rear right in sensor RLM, front left in RL, front left sensor FL, rear left
FRM, rear right sensor RR and front right sensor FR send the drive signal, and the setting time is 15ms embodiment.
In a particular application, parking assisting system starts primary radar scheduling after ON gear power supply signals are received, with
Carry out power-on self-test, if each sensor of preceding radar and rear radar can normal work, driving buzzer for example drip
Responded, if there is can not normal work sensor, then drive buzzer for example to drip two sound and alarmed, point out driving
Member is repaired.After power-on self-test, if parking assisting system receives driver's parking through auxiliary switch input of parking
Auxiliary open signal receives the signal that reverses gear that reaction gear level is shifted to reverse gear shift, then starts the cycle over the above-mentioned radar of execution
Dispatch direction carries out distance measurement and display, and radar tune next time is immediately begun to after can specifically completing current primary radar scheduling
Degree, the cycle that can also fix performs each radar scheduling, can also on the premise of each sensor will not be caused to interfere,
Start radar scheduling next time before the scheduling of current primary radar is not completed.
Construction, feature and the action effect of the present invention, above institute is described in detail according to the embodiment shown in schema above
Only presently preferred embodiments of the present invention is stated, but the present invention is not to limit practical range shown in drawing, it is every according to structure of the invention
Want made change, or be revised as the equivalent embodiment of equivalent variations, still without departing from specification with illustrating during covered spirit,
All should be within the scope of the present invention.
Claims (6)
1. a kind of radar dispatching method for auxiliary of parking, it is characterised in that including：
After primary radar scheduling is started, alternately a sensor of a sensor of radar and rear radar sends driving forward
Signal, carries out obstacle detection, until all the sensors of radar and rear thunder forward to activate respective sensor transmitting ultrasonic wave
The all the sensors reached complete current primary radar scheduling untill respectively sending the once drive signal；Wherein, radar forward
The time interval for the two neighboring drive signal that sensor is sent is more than or equal to the biography of the safety time, backward radar of setting
The time interval for the two neighboring drive signal that sensor is sent is more than or equal to the safety time, and the safety time is to make
The shortest time of two adjacent normal operation of sensor of installation site；
The alternating forward a sensor of radar and rear radar a sensor send drive signal include：
Alternately a sensor of a sensor of radar and rear radar sends driving letter to the fixed setting time in interval forward
Number, the setting time is more than or equal to the safety time of half, and less than the safety time.
2. radar dispatching method according to claim 1, it is characterised in that the safety time is more than or equal to
30ms。
3. radar dispatching method according to claim 1, it is characterised in that a sensor of alternating radar forward
Sending drive signal with a sensor of rear radar includes：
Alternately a sensor of a sensor of radar and rear radar sends drive signal, and the one of first radar backward forward
Individual sensor sends the drive signal.
4. radar dispatching method according to claim 1, it is characterised in that methods described also includes：
In primary radar scheduling is carried out, sequentially each sensor of radar sends the drive signal forward；And/or,
In primary radar scheduling is carried out, sequentially each sensor of radar sends the drive signal backward.
5. radar dispatching method according to claim 4, it is characterised in that the preceding radar is included along the front end of automobile
Sensor and front right sensor in sensor, front right in front left sensor that cambered surface is sequentially arranged from left to right, front left, it is described after
Rear left sensor that radar includes being sequentially arranged from left to right along the rear end cambered surface of automobile, passed in sensor, rear right in rear left
Sensor and rear right sensor.
6. radar dispatching method according to claim 5, it is characterised in that a sensor of alternating radar forward
Sending drive signal with a sensor of rear radar includes：
Successively into rear left sensor, front left sensor, rear left in sensor, front left in sensor, rear right in sensor, front right
Sensor, rear right sensor and front right sensor send the drive signal.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510131553.5A CN104678402B (en) | 2015-03-24 | 2015-03-24 | A kind of radar dispatching method for auxiliary of parking |
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| CN201510131553.5A CN104678402B (en) | 2015-03-24 | 2015-03-24 | A kind of radar dispatching method for auxiliary of parking |
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| CN104678402B true CN104678402B (en) | 2017-07-28 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105607070A (en) * | 2015-12-20 | 2016-05-25 | 华晨汽车集团控股有限公司 | Ultrasonic sensor detection method |
| CN105549022B (en) * | 2016-03-04 | 2019-01-29 | 陈武强 | A kind of automobile ultrasonic method for detecting and sensor |
| DE102016209810A1 (en) * | 2016-06-03 | 2017-12-07 | Robert Bosch Gmbh | Method for detecting at least one parking space for a vehicle |
| CN107364491B (en) * | 2017-06-29 | 2020-02-14 | 浙江吉利汽车研究院有限公司 | Automatic vehicle reversing system and control method thereof |
| CN108152805B (en) * | 2017-12-25 | 2021-12-03 | 合肥晟泰克汽车电子股份有限公司 | Automobile radar probe ranging method |
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| JP3527433B2 (en) * | 1999-03-17 | 2004-05-17 | 株式会社日本自動車部品総合研究所 | Distance detection device |
| JP2006298266A (en) * | 2005-04-22 | 2006-11-02 | Denso Corp | Obstacle detector |
| JP4305412B2 (en) * | 2005-05-10 | 2009-07-29 | 株式会社デンソー | Obstacle detection device |
| CN201007740Y (en) * | 2006-12-15 | 2008-01-16 | 杨利民 | Forward and backward parking radar |
| CN103913748B (en) * | 2014-03-06 | 2017-03-08 | 武汉理工大学 | A kind of automobile sensory perceptual system based on multisensor and cognitive method |
| CN103969649A (en) * | 2014-04-23 | 2014-08-06 | 奇瑞汽车股份有限公司 | Backing up distance measurement method, device and system |
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