CN115158161A - A vehicle driving safety warning system based on harmonic radar detection of pedestrians - Google Patents

Abstract

The invention discloses a vehicle driving safety early warning system for detecting pedestrians based on a harmonic radar, and relates to the technical field of safe driving; the system comprises a harmonic radar transmitting module group, a harmonic radar receiving module group, a central control processing module and a voice alarm module, wherein the central control processing module is used for controlling the harmonic radar transmitting module group, processing data obtained by the harmonic radar receiving module group, and the voice alarm module works according to the processing result of the central control processing module; through the nonlinear node on the electronic equipment that harmonic radar detected the pedestrian and carried on one's body, central control processing module handles harmonic radar detection data, judges whether have the pedestrian around and with the distance between the pedestrian to pass through voice alarm module according to pedestrian's distance and provide the warning for vehicle driver, do not receive factors influences such as environment, illumination, solve the tradition and based on laser radar, the problem that the barrier sheltered from the pedestrian can't be surveyed to vehicle driving safety early warning system of camera.

Description

A vehicle driving safety warning system based on harmonic radar detection of pedestrians

technical field

The invention relates to the technical field of safe driving, in particular to a vehicle driving safety warning system based on harmonic radar detection of pedestrians.

Background technique

With the rapid development of my country's economy, the number of automobiles in our country has increased rapidly, and the increase in the number of automobiles has led to the incidence of traffic accidents. The pedestrians who arrived suddenly ran out, making the driver too late to react and braking in time, which led to the occurrence of traffic accidents. If the driver can predict that there may be pedestrians here, reduce the speed in advance, and prepare for braking, it will greatly reduce the possibility of traffic accidents and ensure driving safety. However, LiDAR, which has been widely used in the field of car safety driving, and millimeter-wave radar cannot detect the existence of pedestrians in the presence of obstacles, and cannot make effective early warning.

With the popularization of mobile payment, people's life is more and more inseparable from mobile phones. It may be impossible to move without mobile phones today, and people always carry mobile phones with them. As a mobile communication device, a mobile phone has a large number of nonlinear nodes such as metal junctions and PN junctions. Harmonic radars are radar detectors designed to detect nonlinear nodes.

SUMMARY OF THE INVENTION

In view of the above problems existing in the prior art, the present invention provides a vehicle driving safety warning system based on harmonic radar detection of pedestrians, which solves the problem that the driver has a blind area of vision or cannot observe pedestrians due to road obstacles, so that the driver can Early warning to avoid traffic accidents.

In order to realize the above-mentioned technical purpose and achieve the above-mentioned technical effect, the present invention is realized through the following technical solutions:

A vehicle driving safety warning system based on harmonic radar detection of pedestrians, comprising a harmonic radar transmitting module group and a harmonic radar receiving module group, controlling the harmonic radar transmitting module group, and obtaining data from the harmonic radar receiving module group The central control processing module for processing, and the voice alarm module working according to the processing result of the central control processing module.

Further, the harmonic radar transmitting module group includes a first harmonic radar transmitting module, a second harmonic radar transmitting module, a third harmonic radar transmitting module and a fourth harmonic radar transmitting module; The second harmonic radar transmitter modules are respectively placed under the front left and right headlights of the vehicle, and the third and fourth harmonic radar transmitter modules are respectively placed under the rear left and right taillights of the mounted vehicle;

The harmonic radar receiving module group includes a first harmonic radar receiving module, a second harmonic radar receiving module, a third harmonic radar receiving module and a fourth harmonic radar receiving module;

the first harmonic radar receiving module is installed on the lower side of the first harmonic radar transmitting module; the second harmonic radar receiving module is installed on the lower side of the second harmonic radar transmitting module; the third harmonic radar receiving module is installed on the lower side of the second harmonic radar transmitting module; The harmonic radar receiving module is installed on the lower side of the third harmonic radar transmitting module; the fourth harmonic radar receiving module is installed on the lower side of the fourth harmonic radar transmitting module.

Further, the installation position of the harmonic radar transmitting module group is on the same horizontal plane, and the angle between the first harmonic radar transmitting module and the second harmonic radar transmitting module is less than 180 degrees;

The installation positions of the receiving groups of the harmonic radar modules are on the same horizontal plane, and the included angle between the first harmonic radar receiving module and the second harmonic radar receiving module is less than 180 degrees.

Further, the central control processing module is installed in the central console, and the central control processing module controls the opening and closing of the harmonic radar transmitting module group according to the driving state of the vehicle.

A vehicle driving safety warning calculation system based on harmonic radar detection of pedestrians:

S1: The harmonic radar transmitting module group transmits the first fundamental wave of L-band, wavelength λ ₁ and frequency f ₁ around the vehicle according to the instructions of the central control processing module;

S2: The harmonic radar receiving module group receives the first harmonic with wavelength λ ₂ and frequency f ₂ generated by the first fundamental wave emitted by the harmonic radar transmitting module group through the electronic equipment on the surrounding pedestrians;

The harmonic radar receiving module transmits the first harmonic data of frequency f ₂ to the central control processing module;

S3: when the central control processing module receives the first harmonic data of the frequency f ₂ , it controls the harmonic radar transmitting module to transmit the second fundamental wave of the frequency f ₁ +Δf;

S4: The central control processing module performs frequency multiplication processing on the second fundamental wave and records the phase value of the frequency multiplied second fundamental wave at the transmission moment

S5: The harmonic radar receiving module group receives the second harmonic of 2(f ₁ +Δf) generated by the second fundamental wave emitted by the harmonic radar transmitting module group through the electronic equipment on the surrounding pedestrians;

The harmonic radar receiving module transmits the second harmonic data with a frequency of 2(f ₁ +Δf) to the central control processing module;

S6: The central control processing module records the received phase value of the second harmonic with a frequency of 2(f ₁ +Δf) at this time

S7: The distance D of the current pedestrian is obtained by calculating the data, and the calculation formula of the distance D is as follows:

Where: c is the speed of light;

f ₁ is the fundamental frequency;

Δf is the random signal disturbance frequency;

为发射时刻的倍频基波相位值；

is the phase value of the frequency-doubling fundamental wave at the time of transmission;

为接收时刻二次谐波的相位值；

is the phase value of the second harmonic at the time of reception;

S8: The central control processing module calculates the pedestrian distance D according to the received radar data and controls the voice alarm module in the vehicle to give advance warning to avoid traffic accidents and ensure driving safety.

Further, the wavelength λ ₂ of the first harmonic is half of the wavelength λ ₁ of the first fundamental wave, and the relationship between the two is λ ₁ =2λ ₂ , and the frequency f ₂ of the first harmonic is two times the frequency f ₁ of the first fundamental wave. times, the relationship between the two is 2f ₁ =f ₂ .

Further, Δf is the random signal disturbance frequency.

Further, the voice alarm module is installed inside the cab.

Further, the central control processing module controls the voice alarm module to perform different levels of early warning according to different distance results:

(1) When D>10m, no alarm is issued;

(2) When 6m<D≤10m, control the voice alarm module in the car to issue a first-level alarm;

(3) When 3m<D≤6m, control the voice alarm module in the car to issue a secondary alarm;

(4) When D≤3m, control the voice alarm module in the car to issue a three-level alarm;

The alarm tone increases in frequency and volume as the alarm level increases. After the driver makes judgments based on different warnings, he can react in advance to avoid traffic accidents and ensure driving safety.

Further, the first harmonic is the second harmonic generated by the first fundamental wave passing through the electronic equipment on the pedestrian, and the second harmonic is the second harmonic generated by the second fundamental wave passing through the electronic equipment on the pedestrian.

Beneficial effects of the present invention:

The invention provides a vehicle driving safety warning system based on harmonic radar detection of pedestrians. The harmonic radar is used to detect nonlinear nodes on electronic equipment carried by pedestrians. The central control processing module processes the harmonic radar detection data to determine surrounding Whether there are pedestrians and the distance between them, and provide warnings to vehicle drivers through the voice alarm module according to the distance of pedestrians, which is not affected by factors such as environment and light, and solves the problem that traditional vehicle driving safety warning systems based on lidar and cameras cannot be used. In the process of detecting pedestrians blocked by obstacles, the present invention will not generate false alarms for natural objects, such as trees and fences, during the process of detecting pedestrians in the blind area of the field of view and after the obstacles are blocked, thereby improving the accuracy of early warning, reducing the accident rate, and ensuring Driving safety.

Of course, it is not necessary for any product embodying the present invention to achieve all of the above-described advantages simultaneously.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

1 is an exemplary diagrammatic view of a vehicle running on a road and equipped with the vehicle driving safety warning system based on harmonic radar detection of pedestrians according to an embodiment of the present invention;

2 is a schematic diagram of the installation of a partial harmonic radar transmitting module and a partial harmonic radar receiving module according to an embodiment of the present invention;

FIG. 3 is a working flowchart of the vehicle driving safety warning system based on the harmonic radar detection of pedestrians according to the embodiment of the present invention.

1- Vehicle, 2A- First Harmonic Radar Transmitting Module, 2B- Second Harmonic Radar Transmitting Module, 2C- Third Harmonic Radar Transmitting Module, 2D- Fourth Harmonic Radar Transmitting Module, 3A- First Harmonic Radar receiving module, 3B-second harmonic radar receiving module, 3C-third harmonic radar receiving module, 3D-fourth harmonic radar receiving module, 4-pedestrian, 5-electronic communication equipment, 6-obstruction.

Detailed ways

The following describes in detail the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, but not to be construed as a limitation of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Figure 1-3

Example 1

The vehicle driving safety warning system based on harmonic radar detection of pedestrians includes a harmonic radar transmitting module group, a harmonic radar receiving module group, a central control processing module and a voice alarm module. The vehicle driving safety warning system for detecting pedestrians based on harmonic radar determines whether there is a pedestrian (4) here by detecting the electronic equipment carried by the pedestrian (4). Non-linear targets such as metal junctions or PN junctions exist in all electronic devices such as mobile phones, smart watches, USB flash drives, etc. By using harmonic radar to detect nonlinear targets such as metal junctions or PN junctions in the electronic communication equipment (5) carried by the human body, after detecting the second and third harmonic signals radiated by the electronic equipment, determine the location of the There are pedestrians (4) carrying electronic equipment. By calculating the safety distance, different levels of early warning are given through the voice system installed in the car according to the judgment result, and the driver makes reasonable judgments according to different levels of early warning, so as to avoid traffic accidents. occurs, to ensure driving safety.

Please refer to Fig. 1-2, the harmonic radar transmitter module group includes a first harmonic radar transmitter module (2A), a second harmonic radar transmitter module (2B), a third harmonic radar transmitter module (2C), and a third harmonic radar transmitter module (2C). A fourth harmonic radar transmitting module (2D), the first harmonic radar transmitting module (2A) and the second harmonic radar transmitting module (2B) are respectively placed under the front left and right headlights of the vehicle (1) on board, The third harmonic radar transmitting module (2C) and the fourth harmonic radar transmitting module (2D) are respectively placed on the undersides of the left and right taillights at the rear of the mounted vehicle (1);

The installation position of the harmonic radar transmitting module group is on the same horizontal plane, and the included angle between the first harmonic radar transmitting module (2A) and the second harmonic radar transmitting module (2B) is less than 180 degrees;

Any harmonic radar transmitting module of the harmonic radar transmitting module group is composed of a transmitting circuit and a transmitting antenna. Under the instruction of the central control processing module, the first fundamental wave of the L-band, the wavelength is λ ₁ and the frequency is f ₁ is emitted to the surroundings;

The harmonic radar receiving module group includes a first harmonic radar receiving module (3A), a second harmonic radar receiving module (3B), a third harmonic radar receiving module (3C) and a fourth harmonic radar receiving module ( 3D), the first harmonic radar receiving module (3A) is mounted on the lower side of the first harmonic radar transmitting module (2A), and the second harmonic radar receiving module (3B) is mounted on the second harmonic radar receiving module (3B) The lower side of the harmonic radar transmitting module (2B), the third harmonic radar receiving module (3C) is mounted on the lower side of the third harmonic radar transmitting module (2C), the fourth harmonic radar receiving module ( 3D) mounted on the lower side of the fourth harmonic radar transmitter module (2D);

Any harmonic radar receiving module of the harmonic radar receiving module group is composed of a receiving circuit and a receiving antenna. Receiving the wavelength of the first fundamental wave emitted by the harmonic radar transmitter module group around the vehicle body through the electronic equipment on the pedestrian (4) is λ ₂ , and the frequency is the second harmonic of f ₂ ;

The wavelength λ ₂ of the second harmonic is half of the wavelength λ ₁ of the first fundamental wave, and the relationship between the two is λ ₁ =2λ ₂ , and the frequency f ₂ of the second harmonic is twice the frequency f ₁ of the first fundamental wave , the relationship between the two is 2f ₁ =f ₂ ;

频率为f₁+Δf的第二基波经行人(4)身上的电子设备后产生2(f₁+Δf)的第二谐波，所述频率为2(f₁+Δf)的第二谐波经传播后被所述第二谐波雷达接收模块(3B)所接收，第二谐波雷达接收模块(3B)将频率为2(f₁+Δf)的第二谐波数据传至中央控制处理模块。中央控制处理模块记录此时所接收到的频率为2(f₁+Δf) 的第二谐波的相位值

通过对数据进行计算获得当前行人(4)的距离D，距离D计算公式如下：The central control processing module controls the opening and closing of the harmonic radar transmitting module group according to the driving state of the vehicle (1). The vehicle (1) drives forward, and the central control processing module turns on the first harmonic radar transmitting module (2A), the second harmonic radar transmitting module (2B), and the frequency emitted by the second harmonic radar transmitting module (2B) is the frequency _The fundamental wave of f1 propagates to the electronic communication device (5) carried by the pedestrian (4) who cannot be observed due to the obstruction (6), and the electronic communication device (5) receives the frequency radiated by the first fundamental wave Because the first harmonic of frequency f2 is received by the _second harmonic radar receiving module (3B), the _second harmonic radar receiving module (3B) transmits the data of the first harmonic of frequency f2 to the central control processing module. When the central control processing module receives the first harmonic data of the frequency f ₂ , it controls the second harmonic radar transmitting module (2B) to transmit the second fundamental wave of the frequency f ₁ +Δf, where Δf is the random signal disturbance frequency , the central control processing module performs frequency multiplication processing on the second fundamental wave and records the phase value of the frequency multiplied fundamental wave at the launch moment

The second fundamental wave with frequency f ₁ +Δf passes through the electronic equipment on the pedestrian (4) to generate the second harmonic of 2(f ₁ +Δf), which is the second harmonic of 2(f ₁ +Δf) After the wave is propagated, it is received by the second harmonic radar receiving module (3B), and the second harmonic radar receiving module (3B) transmits the second harmonic data with a frequency of 2(f ₁ +Δf) to the central control processing module. The central control processing module records the phase value of the second harmonic with a frequency of 2(f ₁ +Δf) received at this time

The distance D of the current pedestrian (4) is obtained by calculating the data. The calculation formula of the distance D is as follows:

Where: c is the speed of light;

f ₁ is the fundamental frequency;

Δf is the random signal disturbance frequency;

为发射时刻的倍频基波相位值；

is the phase value of the frequency-doubling fundamental wave at the time of transmission;

为接收时刻二次谐波的相位值。

is the phase value of the second harmonic at the time of reception.

The central control processing module calculates the distance D of the pedestrian (4) according to the received radar data and controls the voice alarm module in the vehicle (1) to give an early warning to avoid traffic accidents and ensure driving safety.

Example 2

The central control processing module controls the voice alarm module to give different levels of early warning according to different distance results:

(1) When D>10m, no alarm is issued;

(2) When 6m<D≤10m, control the voice alarm module in the car to issue a first-level alarm;

(3) When 3m<D≤6m, control the voice alarm module in the car to issue a secondary alarm;

(4) When D≤3m, control the voice alarm module in the car to issue a three-level alarm.

The frequency and volume of the alarm voice increase with the increase of the alarm level. After the driver makes judgments according to different warnings, he will respond in advance to avoid traffic accidents and ensure driving safety.

The above are only some embodiments of the present invention. It should be pointed out that for those skilled in the art, without departing from the principles of the present invention, several improvements and modifications can be made. It should be regarded as the protection scope of the present invention.

In the description of this specification, description with reference to the terms "one embodiment," "example," "specific example," etc. means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one aspect of the present invention. in one embodiment or example. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Claims (8)

1. a vehicle driving safety warning system based on harmonic radar detection pedestrian, it is characterized in that: comprise harmonic radar transmitting module group, harmonic radar receiving module group, the harmonic radar transmitting module group is controlled, and the harmonic radar transmitting module group is controlled. The radar receiving module group is a central control processing module that obtains data for processing, and a voice alarm module that works according to the processing results of the central control processing module. 2 . The vehicle driving safety warning system based on harmonic radar detection of pedestrians as claimed in claim 1 , wherein the harmonic radar transmitting module group comprises a first harmonic radar transmitting module and a second harmonic radar transmitting module. 3 . , the third harmonic radar transmitter module and the fourth harmonic radar transmitter module; the first and second harmonic radar transmitter modules are respectively placed on the underside of the left and right headlights in front of the vehicle, the third and fourth Harmonic radar transmitter modules are placed on the underside of the rear left and right taillights of the mounted vehicle; The harmonic radar receiving module group includes a first harmonic radar receiving module, a second harmonic radar receiving module, a third harmonic radar receiving module and a fourth harmonic radar receiving module; the first harmonic radar receiving module is installed on the lower side of the first harmonic radar transmitting module; the second harmonic radar receiving module is installed on the lower side of the second harmonic radar transmitting module; the third harmonic radar receiving module is installed on the lower side of the second harmonic radar transmitting module; The harmonic radar receiving module is installed on the lower side of the third harmonic radar transmitting module; the fourth harmonic radar receiving module is installed on the lower side of the fourth harmonic radar transmitting module. 3. The vehicle driving safety warning system based on harmonic radar detection of pedestrians as claimed in claim 2, wherein the installation position of the harmonic radar transmitting module group is on the same horizontal plane, and the first harmonic radar transmitting module The included angle with the second harmonic radar transmitter module is less than 180 degrees; The installation positions of the receiving groups of the harmonic radar modules are on the same horizontal plane, and the included angle between the first harmonic radar receiving module and the second harmonic radar receiving module is less than 180 degrees. 4. The vehicle driving safety warning system based on harmonic radar detection of pedestrians as claimed in claim 1, wherein the central control processing module is installed in the central console, and the central control processing module controls the Open and close the harmonic radar transmitter module group. 5. invent a kind of vehicle driving safety warning computing system based on harmonic radar detection pedestrian according to claim 1, it is characterized in that: S1: The harmonic radar transmitting module group transmits the first fundamental wave of L-band, wavelength λ ₁ and frequency f ₁ around the vehicle according to the instructions of the central control processing module; S2: The harmonic radar receiving module group receives the first harmonic with wavelength λ ₂ and frequency f ₂ generated by the first fundamental wave emitted by the harmonic radar transmitting module group through the electronic equipment on the surrounding pedestrians; The harmonic radar receiving module transmits the first harmonic data of frequency f ₂ to the central control processing module; S3: when the central control processing module receives the first harmonic data of the frequency f ₂ , it controls the harmonic radar transmitting module to transmit the second fundamental wave of the frequency f ₁ +Δf; S4: The central control processing module performs frequency multiplication processing on the second fundamental wave and records the phase value of the frequency multiplied second fundamental wave at the transmission moment

S5: The harmonic radar receiving module group receives the second harmonic of 2(f ₁ +Δf) generated by the second fundamental wave emitted by the harmonic radar transmitting module group through the electronic equipment on the surrounding pedestrians; The harmonic radar receiving module transmits the second harmonic data with a frequency of 2(f ₁ +Δf) to the central control processing module; S6: The central control processing module records the received phase value of the second harmonic with a frequency of 2(f ₁ +Δf) at this time

S7: The distance D of the current pedestrian is obtained by calculating the data, and the calculation formula of the distance D is as follows:

S8: The central control processing module calculates the pedestrian distance D according to the received radar data and controls the voice alarm module in the vehicle to give advance warning to avoid traffic accidents and ensure driving safety. 6 . The vehicle driving safety warning computing system based on harmonic radar detection of pedestrians according to claim 5 , wherein Δf is the random signal disturbance frequency. 7 . 7 . The vehicle driving safety warning computing system based on harmonic radar detection of pedestrians according to claim 5 , wherein the voice alarm module is installed inside the cab. 8 . 8. The vehicle driving safety warning computing system based on harmonic radar detection pedestrian as claimed in claim 5, it is characterized in that: the central control processing module controls the voice alarm module to carry out early warning of different levels according to different distance results: (1) When D>10m, no alarm is issued; (2) When 6m<D≤10m, control the voice alarm module in the car to issue a first-level alarm; (3) When 3m<D≤6m, control the voice alarm module in the car to issue a secondary alarm; (4) When D≤3m, control the voice alarm module in the car to issue a three-level alarm; The voice alarm module increases the frequency and volume as the alarm level increases.

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