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WO2021056781A1 - 汽车后方盲点监测系统及方法、雷达控制盒 - Google Patents

汽车后方盲点监测系统及方法、雷达控制盒 Download PDF

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Publication number
WO2021056781A1
WO2021056781A1 PCT/CN2019/119801 CN2019119801W WO2021056781A1 WO 2021056781 A1 WO2021056781 A1 WO 2021056781A1 CN 2019119801 W CN2019119801 W CN 2019119801W WO 2021056781 A1 WO2021056781 A1 WO 2021056781A1
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WO
WIPO (PCT)
Prior art keywords
moving object
car
control box
approaching
distance
Prior art date
Application number
PCT/CN2019/119801
Other languages
English (en)
French (fr)
Inventor
尤山泉
齐照山
林东峰
郭梦阳
Original Assignee
上海为彪汽配制造有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 上海为彪汽配制造有限公司 filed Critical 上海为彪汽配制造有限公司
Publication of WO2021056781A1 publication Critical patent/WO2021056781A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/2661—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic mounted on parts having other functions
    • B60Q1/2665—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic mounted on parts having other functions on rear-view mirrors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/34—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction
    • B60Q1/346—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction with automatic actuation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q5/00—Arrangement or adaptation of acoustic signal devices
    • B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
    • B60Q5/006—Arrangement or adaptation of acoustic signal devices automatically actuated indicating risk of collision between vehicles or with pedestrians
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0132—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems

Definitions

  • the invention relates to the field of radar technology, in particular to a blind spot monitoring system and method at the rear of an automobile, and a radar control box.
  • the purpose of the present invention is to provide a blind spot monitoring system and method at the rear of an automobile, and a radar control box, which effectively solves the technical problems of complicated installation of the existing monitoring system, high cost and low versatility.
  • a blind spot monitoring system at the rear of an automobile includes:
  • the millimeter wave radar installed on the rear bumper of the car is used to detect the rear and side of the car;
  • the TPMS Transire Pressure Monitoring System installed in the tire is used to monitor the running speed of the car in real time;
  • the TPMS wireless receiver connected in communication with the TPMS is used to receive monitoring data sent by the TPMS;
  • the radar control box respectively connected with the millimeter wave radar and the TPMS wireless receiver is used to receive the detection signal of the millimeter wave radar and the running speed of the car and determine whether there is a moving object approaching, and when it is determined that there is a moving object approaching. Close position
  • the alarm device connected with the radar control box is used to give a corresponding alarm according to the judgment result of the radar control box.
  • the detection of the millimeter wave radar and the monitoring of TPMS are combined to realize the alarm of the situation such as the rear coming car. It is no longer necessary to dismantle the center console and the instrument panel, and crack the CAN bus to achieve the purpose of rear monitoring of the car; in addition, , Integrate the TPMS wireless receiver in the radar control box, cancel the physical line, save the installation simple and convenient, and reduce the material cost and installation cost.
  • the vehicle rear blind spot monitoring system includes 4 TPMSs, which are respectively arranged in the four tires of the vehicle to monitor the tire pressure, temperature and operating speed of the tires.
  • a TPMS is installed in each tire to monitor the tire pressure, temperature and running speed, which is convenient for monitoring the blind spot at the rear of the car while monitoring the usage of the tire, which is used for tire replacement. prediction.
  • the radar control box it is judged whether it is in a moving state according to the distance of the detected object and the running speed of the car; when it is judged that the detected object is moving and the relative distance is gradually decreasing, it is judged that the moving object is close, and Further determine the approaching direction of the moving object in the approaching state.
  • the current running speed of the car, the distance of the detected object, and other factors are combined to determine whether the moving object poses a threat to the car, so as to improve the safety performance of the car during operation.
  • the alarm device includes a left alarm lamp installed on the left-view mirror of the automobile, a right alarm lamp and a buzzer installed on the right-view mirror of the automobile, and the left alarm lamp, the right alarm lamp and the buzzer are respectively Connect with radar control box;
  • the radar control box determines that a moving object is approaching behind and the distance is less than the first preset distance, it controls the buzzer to sound an alarm;
  • the radar control box determines that there is a moving object approaching on the left and the distance is less than the second preset distance, it controls the left warning light to light up and the buzzer to sound;
  • the radar control box determines that there is a moving object on the right approaching and the distance is less than the third preset distance, it controls the right warning light to light up and the buzzer to sound;
  • the radar control box is also respectively connected with the left turn signal and the right turn signal of the automobile;
  • the right turn signal is controlled to light up.
  • the control signal is sent to the millimeter wave radar to control the millimeter wave radar to detect.
  • a left warning light and a right warning light are installed on the left and right mirrors of the car, respectively, so as to give corresponding alarms according to the direction of the coming car from behind, and the driver will react accordingly after seeing it. Cars coming from the rear will be alerted through the rearview mirror to improve the driving safety of the vehicle.
  • the radar control box is respectively connected with the left turn signal and the right turn signal, and actively turns on the corresponding turn signal according to the situation of the vehicles coming from behind, so as to avoid traffic accidents caused by the driver's negligence and further improve driving safety.
  • the present invention also provides a method for monitoring blind spots at the rear of an automobile, including:
  • the corresponding alarm will be given according to the approaching position of the moving object.
  • the detection of the millimeter wave radar and the monitoring of TPMS are combined to realize the alarm of the situation such as the rear coming car. It is no longer necessary to dismantle the center console and the instrument panel, and crack the CAN bus to achieve the purpose of rear monitoring of the car; in addition, , Integrate the TPMS wireless receiver in the radar control box, cancel the physical line, save the installation simple and convenient, and reduce the material cost and installation cost.
  • judging whether there is a moving object approaching according to the detection signal and the running speed includes:
  • the current running speed of the car, the distance of the detected object, and other factors are combined to determine whether the moving object poses a threat to the car, so as to improve the safety performance of the car during operation.
  • the corresponding alarm according to the approaching position of the moving object includes:
  • the corresponding alarm based on the approaching position of the moving object includes:
  • the right turn signal is controlled to light up.
  • a left warning light and a right warning light are installed on the left and right mirrors of the car, respectively, so as to give corresponding alarms according to the direction of the coming car from behind, and the driver will react accordingly after seeing it. Cars coming from the rear will be alerted through the rearview mirror to improve the driving safety of the vehicle.
  • the radar control box is respectively connected with the left turn signal and the right turn signal, and actively turns on the corresponding turn signal according to the situation of the vehicles coming from behind, so as to avoid traffic accidents caused by the driver's negligence and further improve driving safety.
  • the method for monitoring blind spots behind the vehicle further includes:
  • the left turn signal or the right turn signal when the driver controls the left turn signal or the right turn signal to turn on and needs to make a corresponding turn, the left turn signal or the right turn signal sends a control signal to the millimeter wave radar, controls the millimeter wave radar to detect, and detects The signal is sent to the radar control box to determine whether there are other moving objects in the corresponding position that will cause danger to the car, further improving driving safety.
  • the present invention also provides a radar control box, which includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor.
  • the processor runs the computer program, the rear of the vehicle is realized. Steps of blind spot monitoring method.
  • the present invention also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above blind spot monitoring method behind the automobile are realized.
  • Fig. 1 is a schematic block diagram of an embodiment of the rear blind spot monitoring system of an automobile according to the present invention
  • FIG. 2 is a schematic diagram of an example structure of the rear blind spot monitoring system of an automobile according to the present invention.
  • Fig. 3 is a schematic diagram of control in the rear blind spot monitoring system of the car as shown in Fig. 2;
  • FIG. 4 is a schematic flowchart of an embodiment of a method for monitoring a blind spot at the rear of an automobile according to the present invention
  • FIG. 5 is a schematic diagram of the radar control box of the present invention.
  • 100-Automobile rear blind spot monitoring system 110-millimeter wave radar, 120-TPMS, 130/11-TPMS wireless receiver, 140/12-radar control box, 150-alarm device, 5-left turn signal, 6-right turn Lights, 7-left radar, 8-right radar, 9-left warning light, 10-right warning light.
  • An embodiment of the present invention is a blind spot monitoring system for the rear of an automobile.
  • the monitoring system 100 includes:
  • the millimeter-wave radar 110 installed on the rear bumper of the car is used to detect the rear and side of the car;
  • the TPMS120 installed in the tire is used to monitor the running speed of the car in real time;
  • the TPMS wireless receiver 130 connected in communication with the TPMS 120 is used to receive the monitoring data sent by the TPMS 120;
  • the radar control box 140 respectively connected to the millimeter wave radar 110 and the TPMS wireless receiver 130 is used to receive the detection signal of the millimeter wave radar 110 and the running speed of the car and determine whether a moving object is approaching, and when it is determined that a moving object is approaching Determine its close position;
  • the alarm device 150 connected to the radar control box 140 is used to give a corresponding alarm according to the judgment result of the radar control box 140.
  • the millimeter wave radar 110 is installed on the rear bumper of the car, one on each side, including a left radar and a right radar.
  • the box 140 analyzes and displays the received monitoring data to determine whether the tire is working normally and whether it needs to be replaced (display the monitoring data and a prediction of whether the tire will be replaced through a display screen).
  • a TPMS is installed in each tire of a car to monitor it.
  • the frequency of monitoring the pressure and temperature of the TPMS tire inner tire is set according to the actual situation, such as every 5 minutes, or every 1 hour.
  • the millimeter wave radar 110 After turning on the millimeter wave radar 110, it starts to detect the rear and side of the car, and sends the detected detection signal to the radar control box 140 in real time; at the same time, the TPMS120 detects the running speed of the car in real time and sends it to Radar control box 140.
  • the radar control box 140 immediately starts data processing after receiving the detection signal and the running speed of the car, and judges whether there is a moving object that poses a safety threat to the car approaching. When it is judged that a moving object is approaching, an alarm will prompt the driver to drive carefully to avoid a traffic accident.
  • the detection of the millimeter wave radar 110 and the monitoring of the TPMS120 are combined to realize the alarm of the incoming car from the rear. It is no longer necessary to remove the center console and the instrument panel and crack the can bus to realize the rear of the car. Purpose of monitoring.
  • the radar control box 140 it is judged whether it is in a moving state according to the distance of the detected object and the running speed of the car; when it is judged that the detected object is moving State and the relative distance gradually decreases, it is judged that the moving object is in the close state, and the approach direction of the moving object in the close state is further judged.
  • the millimeter wave radar 110 After turning on the millimeter wave radar 110, it starts to detect the rear and side of the car, and sends the detected detection signal to the radar control box 140 in real time; at the same time, the TPMS120 detects the running speed of the car in real time and sends it to Radar control box 140.
  • the radar control box 140 immediately starts data processing after receiving the detection signal and the running speed of the car, and respectively filters the detection signal and the speed signal to filter out obvious noise signals. After that, analyze whether the detected object poses a threat to the car. Specifically, first determine whether the object is in a moving state based on the detection information and the speed of the car.
  • the distance threshold is set to 1 meter; when the moving object is on the side of the car (including the left and right sides) Side), the distance threshold is set to 0.5 meters, etc., which can be adjusted according to the actual situation.
  • the process of judging whether the detected object is in a moving state it is judged according to the distance to the object and the running speed of the car. Specifically, the moving speed and angle of the detected object are obtained by direct testing and verification of the millimeter wave sent and received by the radar. And distance information (Doppler principle). In this example, it is determined whether the moving object is in a close state according to the distance of the moving object detected in real time. In other instances, it can also be judged by the moving speed of the moving object.
  • the speed of the moving object When the speed of the moving object is greater than the driving speed of the car, it is judged to be dangerous to the car; when it is judged that the speed of the moving object is not much different from the speed of the car, or even less than The speed of the car is judged not to cause danger to the car, and no follow-up treatment is done. For example, in an example, when the current speed of the car is 60 yards and the speed of the moving object is 80 yards, it is judged that the moving object may be dangerous to the car, and a warning is issued to remind the driver.
  • the alarm device 150 includes a left warning lamp installed on the left-view mirror of a car, a right warning lamp and a buzzer installed on the right-view mirror of the car, The left warning light, the right warning light and the buzzer are respectively connected to the radar control box 140.
  • the radar control box 140 determines that there is a moving object approaching behind and the distance is less than the first preset distance, it controls the buzzer to sound an alarm; when the radar control box 140 determines that there is a moving object approaching on the left and the distance is less than the second preset distance Distance, controls the left warning light to turn on and the buzzer to sound; when the radar control box 140 determines that there is a moving object approaching on the right and the distance is less than the third preset distance, it controls the right to turn on the warning light and the buzzer to sound.
  • the first preset distance, the second preset distance, and the third preset distance are all set according to the actual situation. For example, the first preset distance is set to 1 meter, and the second preset distance and the third preset distance are set It is set to 0.5 meters, etc., and there is no specific limitation here.
  • the radar control box 140 is also connected to the left turn signal and the right turn signal of the car respectively; when the radar control box 140 determines that there is a moving object approaching on the left and the distance is less than the second preset distance, it controls the left turn The lamp turns on; when the radar control box 140 determines that a moving object is approaching on the right and the distance is less than the third preset distance, the right turn signal is controlled to turn on.
  • the radar control box 140 is respectively connected to the left turn light and the right turn light, and actively turns on the corresponding turn light according to the situation of the vehicle coming from behind, so as to avoid traffic accidents caused by the driver's negligence and further improve driving safety.
  • the left or right turn signal sends a control signal to the millimeter wave radar 110 and controls the millimeter wave radar 110 to detect , And send the detection signal to the radar control box 140 to determine whether there are other moving objects in the corresponding position that will cause danger to the car, and if so, control the buzzer to alarm.
  • the left radar 7 and the right radar 8 are respectively installed on both sides of the rear bumper of the car; each of the four tires is equipped with a TPMS, respectively TPMS1 (marked 1 in the figure). ), TPMS2 (marked 2 in the figure), TPMS3 (marked 3 in the figure) and TPMS4 (marked 4 in the figure); the TPMS wireless receiver 11 is integrated in the radar control box 12, and the radar control box 12 is connected to the left The turn signal 5, the right turn signal 6, the left radar 7, the right radar 8, the left warning light 9 and the right warning light 10 are connected.
  • the radar control box 12 After turning on the left radar 7 and the right radar 8, it starts to detect the rear and side of the car, and sends the detected detection signals to the radar control box 12 in real time; at the same time, TPMS1, TPMS2, TPMS3 and TPMS4 The real-time detection of the running speed of the car is sent to the radar control box 12. After the radar control box 12 receives the detection signal and the speed signal, it immediately filters the detection signal and the speed signal, and then analyzes whether the detected object poses a threat to the car. Specifically, first judge whether the object is in a moving state based on the detection information and the speed of the car.
  • the buzzer is controlled to sound an alarm; when the radar control box determines that there is a moving object approaching to the left, and the distance is less than the first preset distance Two preset distance (such as 0.5 meters), control the left warning light and left turn signal to light up and control the buzzer to sound; when the radar control box judges that there is a moving object on the right approaching, and the distance is less than the third preset distance ( Such as 0.5m), control the right warning light and right turn signal to light up at the same time control the buzzer to sound the alarm.
  • the first preset distance for example, 1 meter
  • the present invention also provides a blind spot monitoring method for the rear of an automobile, which is applied to the above-mentioned blind spot monitoring system for the rear of the automobile.
  • the method for monitoring the blind spot behind the automobile includes:
  • S10 Receive the detection signals detected by the millimeter wave radar toward the rear and side of the car;
  • the millimeter wave radar is installed on the rear bumper of the car, one on each side, including the left radar and the right radar.
  • a TPMS is installed in each tire of a car to monitor it.
  • the radar control box receives the detection signal of the millimeter wave radar and the running speed of the car and judges whether there is a moving object approaching. When it is judged that a moving object is approaching, it further determines its approaching position, and the alarm device gives a corresponding alarm according to the approaching position of the moving object .
  • TPMS detects the running speed of the car in real time and sends it to the radar control box.
  • the radar control box receives the detection signal and the running speed of the car, it immediately starts data processing to determine whether there is a moving object that poses a safety threat to the car approaching. When it is judged that a moving object is approaching, an alarm will prompt the driver to drive carefully to avoid a traffic accident.
  • the detection of the millimeter-wave radar and the monitoring of TPMS are combined to realize the alarm of the incoming car from the rear. It is no longer necessary to remove the center console and the instrument panel and crack the CAN bus to realize the rear monitoring of the car. purpose.
  • the method for monitoring the blind spot behind the vehicle includes:
  • S10 Receive the detection signals detected by the millimeter wave radar toward the rear and side of the car;
  • S31 Determine whether the object is in a moving state according to the distance of the detected object and the running speed of the car;
  • TPMS detects the running speed of the car in real time and sends it to the radar control box.
  • the radar control box receives the detection signal and the running speed of the car, it starts data processing, and filters the detection signal and speed signal respectively to filter out obvious noise signals.
  • analyze whether the detected object poses a threat to the car Specifically, first determine whether the object is in a moving state based on the detection information and the speed of the car.
  • the distance threshold is preset according to the position of the moving object relative to the car. For example, when the moving object is behind the car, the distance threshold is set to 1 meter; when the moving object is at the side of the car, the distance threshold is set Set to 0.5 meters, etc., which can be adjusted according to the actual situation.
  • the process of judging whether the detected object is in a moving state it is judged according to the distance to the object and the running speed of the car. Specifically, the moving speed and angle of the detected object are obtained by direct testing and verification of the millimeter wave sent and received by the radar. And distance information (Doppler principle), when judging whether the moving object is in a close state, the judgment is made based on the distance of the moving object detected in real time. In other instances, it can also be judged by the moving speed of the moving object.
  • Doppler principle Doppler principle
  • the speed of the moving object When the speed of the moving object is greater than the driving speed of the car, it is judged to be dangerous to the car; when it is judged that the speed of the moving object is not much different from the speed of the car, or even less than The speed of the car is judged not to cause danger to the car, and no follow-up treatment is done. For example, in an example, when the current speed of the car is 60 yards and the speed of the moving object is 80 yards, it is judged that the moving object may be dangerous to the car, and a warning is issued to remind the driver.
  • the alarm device includes a left warning lamp installed on the left-view mirror of the car, a right warning lamp and a buzzer installed on the right-view mirror of the car, a left warning lamp, a right
  • the warning light and the buzzer are respectively connected with the radar control box.
  • the corresponding alarm according to the approaching position of the moving object includes: when it is judged that there is a moving object approaching behind and the distance is less than the first preset distance, the buzzer is controlled to sound; when it is judged that there is a moving object approaching on the left, and the distance is less than
  • the second preset distance controls the lighting of the left warning light and the buzzer installed on the left-view mirror of the car; when it is judged that a moving object is approaching on the right and the distance is less than the third preset distance, the control is installed on the right side of the car
  • the right warning light on the sight glass lights up and the buzzer sounds.
  • the first preset distance, the second preset distance, and the third preset distance are all set according to the actual situation. For example, the first preset distance is set to 1 meter, and the second preset distance and the third preset distance are set It is set to 0.5 meters, etc., and there is no specific limitation here.
  • the radar control box is also connected to the left turn signal and the right turn signal of the car respectively; when the radar control box determines that there is a moving object approaching on the left and the distance is less than the second preset distance, the left turn signal is controlled On; when the radar control box judges that a moving object is approaching on the right and the distance is less than the third preset distance, the right turn signal is controlled to light up.
  • the radar control box is connected to the left turn signal and the right turn signal respectively, and actively turns on the corresponding turn signal according to the situation of the vehicles coming from behind, so as to avoid traffic accidents caused by the driver's negligence and further improve driving safety.
  • the left or right turn signal sends a control signal to the millimeter wave radar to control the millimeter wave radar to detect, and Send the detection signal to the radar control box to determine whether there are other moving objects in the corresponding position that will cause danger to the car, if so, control the buzzer to alarm.
  • FIG. 5 is a schematic structural diagram of a radar control box provided in an embodiment of the present invention.
  • the radar control box 140 includes a processor 142, a memory 141, and a device stored in the memory 141 and running on the processor 142.
  • Computer program 1411 for example: a blind spot monitoring program behind a car.
  • the processor 142 executes the computer program 1411 to implement the steps in the foregoing embodiments of the vehicle rear blind spot monitoring method, or the processor 142 executes the computer program 1411 to implement the functions of the modules in the foregoing vehicle rear blind spot monitoring system embodiments.
  • the radar control box 140 may include, but is not limited to, a processor 142 and a memory 141. Those skilled in the art can understand that FIG. 6 is only an example of the radar control box 140, and does not constitute a limitation on the radar control box 140. It may include more or less components than shown in the figure, or combine certain components, or different components. For example, the radar control box 140 may also include input and output devices, display devices, network access devices, buses, etc.
  • the processor 142 may be a central processing unit (Central Processing Unit, CPU), other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (ASIC), field programmable Field-Programmable GateArray (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • the general-purpose processor 142 may be a microprocessor or the processor may also be any conventional processor or the like.
  • the memory 141 may be an internal storage unit of the radar control box 140, such as a hard disk or a memory of the radar control box 140.
  • the memory 141 may also be an external storage device of the radar control box 140, such as a plug-in hard disk equipped on the radar control box 140, a smart media card (SMC), a secure digital (SD) card, and a flash memory. Card (Flash Card), etc.
  • the memory 141 may also include both an internal storage unit of the radar control box 140 and an external storage device.
  • the memory 141 is used to store the computer program 1411 and other programs and data required by the radar control box 140.
  • the memory 141 can also be used to temporarily store data that has been output or will be output.
  • the disclosed radar control box and method can be implemented in other ways.
  • the above-described embodiments of the radar control box are only illustrative.
  • the division of modules or units is only a logical function division.
  • there may be other division methods for example, multiple units or components. It can be combined or integrated into another system, or some features can be ignored or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • the functional units in the various embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.
  • the integrated module/unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium.
  • the present invention implements all or part of the processes in the above-mentioned embodiment methods, and can also be completed by sending instructions to the relevant hardware through the computer program 1411.
  • the computer program 1411 can be stored in a computer-readable storage medium.
  • the computer program 1411 can be stored in a computer-readable storage medium. When executed by the processor 142, 1411 can implement the steps of the foregoing method embodiments.
  • the computer program 1411 includes: computer program code, and the computer program code may be in the form of source code, object code, executable file, or some intermediate forms.
  • the computer-readable storage medium may include: any entity or device capable of carrying the computer program 1411 code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random Access memory (RAM, Random Access Memory), electric carrier signal, telecommunications signal, software distribution medium, etc.
  • ROM Read-Only Memory
  • RAM Random Access Memory
  • electric carrier signal telecommunications signal
  • software distribution medium etc.
  • the content contained in the computer-readable storage medium can be appropriately added or deleted according to the requirements of the legislation and patent practice in the jurisdiction.
  • the computer-readable medium Does not include electrical carrier signals and telecommunication signals.

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Abstract

本发明提供了一种汽车后方盲点监测系统及方法、雷达控制盒，其中，汽车后方盲点监测系统中包括：设置于汽车后保杆上的毫米波雷达，用于朝向汽车的后方和侧方探测；设置于轮胎内的TPMS，用于实时监测汽车的运行速度；与TPMS通信连接的TPMS无线接收器，用于接收TPMS发送的监测数据；分别与毫米波雷达和TPMS无线接收器连接的雷达控制盒，用于接收毫米波雷达的探测信号和汽车的运行速度并判断是否有移动对象靠近，及当判断有移动对象靠近时确定其靠近方位；与雷达控制盒连接的报警装置，用于根据雷达控制盒的判断结果进行相应的报警。其结合毫米波雷达的探测和TPMS的监测，实现后方来车等情况的报警，不再需要拆除中控台和仪表盘、破解can总线即能实现汽车后方监测的目的。

Description

汽车后方盲点监测系统及方法、雷达控制盒 技术领域
本发明涉及雷达技术领域，尤指一种汽车后方盲点监测系统及方法、雷达控制盒。
背景技术
随着经济的发展，人们的生活水平越来越高，出行的交通方式越来越多样化，交通工具更是种类繁多且数量呈逐年增长趋势，其中以汽车所占比例最大。为预防汽车行驶中的各种隐患，汽车毫米波雷达在主动巡航系统、自动紧急制动、前向碰撞预警、后方盲点监测等领域广泛应用，以满足不同情况的需要。
目前，在现有的汽车后方盲点监测系统中，都需要拆除中控台和仪表盘，破解can总线实现通信连接，获取汽车运行过程中的各项参数，安装复杂的同时成本较高，且通用性小。
发明内容
本发明的目的是提供一种汽车后方盲点监测系统及方法、雷达控制盒，有效解决现有监测系统安装复杂成本高且通用性小的技术问题。
本发明提供的技术方案如下：
一种汽车后方盲点监测系统，包括：
设置于汽车后保杆上的毫米波雷达，用于朝向汽车的后方和侧方探测；
设置于轮胎内的TPMS(Tire Pressure Monitoring System，轮胎压力监测系统)，用于实时监测汽车的运行速度；
与所述TPMS通信连接的TPMS无线接收器，用于接收TPMS发送的监测数据；
分别与所述毫米波雷达和TPMS无线接收器连接的雷达控制盒，用于接收毫米波雷达的探测信号和汽车的运行速度并判断是否有移动对象靠近，及当判断有移动对象靠近时确定其靠近方位；
与所述雷达控制盒连接的报警装置，用于根据所述雷达控制盒的判断结果进行相应的报警。
在本技术方案中，结合毫米波雷达的探测和TPMS的监测，实现后方来车等情况的报警，不再需要拆除中控台和仪表盘、破解can总线即能实现汽车后方监测的目的；此外，将TPMS无线接收器集成在雷达控制盒内，取消实体线，节约安装简单便捷，减少材料成本和安装成本。
进一步，所述汽车后方盲点监测系统中包括4颗TPMS，分别设置于汽车的四个轮胎内，监测轮胎的胎压、温度及运行速度。
在本技术方案中，分别在每个轮胎中安装一颗TPMS，对轮胎的胎压、温度和运行速度进行监测，便于汽车后方盲点监测的同时对轮胎的使用情况进行监测，为轮胎的更换进行预测。
进一步，在雷达控制盒中，根据探测到的对象的距离及汽车的运行速度判断其是否处于移动状态；当判断探测的对象处于移动状态且相对距离逐步减小，判断移动对象处于靠近状态，并进一步判断处于靠近状态的移动对象的靠近方位。
在本技术方案中，结合汽车当前的运行速度、探测到的对象的距离等因素对移动对象是否会对汽车造成威胁，提高汽车运行过程中的安全性能。
进一步，所述报警装置中包括安装于汽车左视镜上的左报警灯、安装于汽车右视镜上的右报警灯及蜂鸣器，所述左报警灯、右报警灯和蜂鸣器分别与雷达控制盒连接；
当雷达控制盒判断后方有移动对象靠近，且距离小于第一预设距离，控制蜂鸣器响警；
当雷达控制盒判断左方有移动对象靠近，且距离小于第二预设距离，控制左报警灯点亮及蜂鸣器响警；
当雷达控制盒判断右方有移动对象靠近，且距离小于第三预设距离，控制右报警灯点亮及蜂鸣器响警；
和/或，所述雷达控制盒还分别与汽车的左转向灯和右转向灯连接；
当雷达控制盒判断左方有移动对象靠近，且距离小于第二预设距离，控制左转向灯点亮；
当雷达控制盒判断右方有移动对象靠近，且距离小于第三预设距离，控制 右转向灯点亮。
当左转向灯或右转向灯接收到中控台发送的点亮信号，发送控制信号至毫米波雷达，控制毫米波雷达进行探测。
在本技术方案中，在汽车左视镜和右视镜上分别安装左报警灯和右报警灯，以此根据后方来车的方位进行相应的报警，驾驶人员看到后作出相应的反应，实现后方来车通过后视镜报警，提高车辆行驶安全。另外，雷达控制盒分别与左转向灯和右转向灯连接，并根据后方来车的情况主动开启相应的转向灯，避免因驾驶人员的疏忽造成交通事故，进一步提升驾驶安全。
本发明还提供了一种汽车后方盲点监测方法，包括：
接收毫米波雷达朝向汽车的后方和侧方探测的探测信号；
接收设置于轮胎内的TPMS实时监测的汽车运行速度；
根据所述探测信号和运行速度判断是否有移动对象靠近；
若是，确定移动对象的靠近方位；
根据移动对象的靠近方位进行相应的报警。
在本技术方案中，结合毫米波雷达的探测和TPMS的监测，实现后方来车等情况的报警，不再需要拆除中控台和仪表盘、破解can总线即能实现汽车后方监测的目的；此外，将TPMS无线接收器集成在雷达控制盒内，取消实体线，节约安装简单便捷，减少材料成本和安装成本。
进一步，在根据所述探测信号和运行速度判断是否有移动对象靠近中包括：
根据探测到的对象的距离及汽车的运行速度判断其是否处于移动状态；
若是，判断与探测的对象的相对距离是否逐步减小；
若是，判断移动对象处于靠近状态。
在本技术方案中，结合汽车当前的运行速度、探测到的对象的距离等因素对移动对象是否会对汽车造成威胁，提高汽车运行过程中的安全性能。
进一步，在根据移动对象的靠近方位进行相应的报警中包括：
当判断后方有移动对象靠近，且距离小于第一预设距离，控制蜂鸣器响警；
当判断左方有移动对象靠近，且距离小于第二预设距离，控制安装于汽车 左视镜上的左报警灯点亮及蜂鸣器响警；
当判断右方有移动对象靠近，且距离小于第三预设距离，控制安装于汽车右视镜上的右报警灯点亮及蜂鸣器响警；
和/或，在根据移动对象的靠近方位进行相应的报警中包括：
当判断左方有移动对象靠近，且距离小于第二预设距离，控制左转向灯点亮；
当判断右方有移动对象靠近，且距离小于第三预设距离，控制右转向灯点亮。
在本技术方案中，在汽车左视镜和右视镜上分别安装左报警灯和右报警灯，以此根据后方来车的方位进行相应的报警，驾驶人员看到后作出相应的反应，实现后方来车通过后视镜报警，提高车辆行驶安全。另外，雷达控制盒分别与左转向灯和右转向灯连接，并根据后方来车的情况主动开启相应的转向灯，避免因驾驶人员的疏忽造成交通事故，进一步提升驾驶安全。
进一步，所述汽车后方盲点监测方法中还包括：
判断左转向灯或右转向灯是否接收到中控台发送的点亮信号；
若是，发送控制信号至毫米波雷达，控制毫米波雷达进行探测。
在本技术方案中，当驾驶员控制左转向灯或右转向灯点亮需要进行相应的转向，左转向灯或右转向灯发送控制信号至毫米波雷达，控制毫米波雷达进行探测，并将探测信号发送至雷达控制盒，判断相应方位上是否有其他移动对象会对汽车造成危险，进一步提升驾驶的安全。
本发明还提供了一种雷达控制盒，包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，所述处理器运行所述计算机程序时实现上述汽车后方盲点监测方法的步骤。
本发明还提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时实现上述汽车后方盲点监测方法的步骤。
附图说明
下面将以明确易懂的方式，结合附图说明优选实施例，对上述特性、技术 特征、优点及其实现方式予以进一步说明。
图1是本发明汽车后方盲点监测系统一种实施例示意框图；
图2为本发明汽车后方盲点监测系统一实例结构示意图；
图3为如图2所示的汽车后方盲点监测系统中的控制示意图；
图4为本发明汽车后方盲点监测方法一种实施例流程示意图；
图5为本发明雷达控制盒示意图。
附图标号说明：
100-汽车后方盲点监测系统，110-毫米波雷达，120-TPMS，130/11-TPMS无线接收器，140/12-雷达控制盒，150-报警装置，5-左转向灯，6-右转向灯，7-左雷达，8-右雷达，9-左报警灯，10-右报警灯。
具体实施例
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对照附图说明本发明的具体实施例。显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图，并获得其他的实施例。
本发明的一实施例，一种汽车后方盲点监测系统，如图1所示，该监测系统100中包括：
设置于汽车后保杆上的毫米波雷达110，用于朝向汽车的后方和侧方探测；
设置于轮胎内的TPMS120，用于实时监测汽车的运行速度；
与TPMS120通信连接的TPMS无线接收器130，用于接收TPMS120发送的监测数据；
分别与毫米波雷达110和TPMS无线接收器130连接的雷达控制盒140，用于接收毫米波雷达110的探测信号和汽车的运行速度并判断是否有移动对象靠近，及当判断有移动对象靠近时确定其靠近方位；
与雷达控制盒140连接的报警装置150，用于根据雷达控制盒140的判断结果进行相应的报警。
在本实施例中，毫米波雷达110安装于汽车后保杆上，两边各安装一个，包括左雷达和右雷达。至少在一个轮胎内安装TPMS120，在汽车运行过程中， 实时监测汽车的运行速度，同时监测轮胎的胎压和温度，并通过TPMS无线接收器130将监测数据发送至雷达控制盒140，进而雷达控制盒140对接收到的监测数据进行分析并显示，判断轮胎是否正常工作，是否需要更换(通过一显示屏显示监测数据及对轮胎是否要更换的预测)。在一实例中，在汽车的每个轮胎中设置一颗TPMS，对其进行监测。针对TPMS度轮胎内胎压和温度的监测频率，根据实际情况进行设定，如每5分钟监测一次，又如每1个小时监测一次等。
在工作过程中，开启毫米波雷达110后，开始对汽车的后方和侧方进行探测，并将探测到的探测信号实时发送至雷达控制盒140；同时，TPMS120实时探测汽车的运行速度并发送至雷达控制盒140。雷达控制盒140接收到探测信号和汽车运行速度后随即开始进行数据处理，判断后方是否有会对汽车造成安全威胁的移动对象靠近。当判断有移动对象靠近，报警提示驾驶人员小心驾驶，避免发生交通事故。在该汽车后方盲点监测系统100中，结合毫米波雷达110的探测和TPMS120的监测，实现后方来车等情况的报警，不再需要拆除中控台和仪表盘、破解can总线即能实现汽车后方监测的目的。
对上述实施例进行改进得到本实施例，在本实施例中，在雷达控制盒140中，根据探测到的对象的距离及汽车的运行速度判断其是否处于移动状态；当判断探测的对象处于移动状态且相对距离逐步减小，判断移动对象处于靠近状态，并进一步判断处于靠近状态的移动对象的靠近方位。
在工作过程中，开启毫米波雷达110后，开始对汽车的后方和侧方进行探测，并将探测到的探测信号实时发送至雷达控制盒140；同时，TPMS120实时探测汽车的运行速度并发送至雷达控制盒140。雷达控制盒140接收到探测信号和汽车运行速度后随即开始进行数据处理，分别对探测信号和速度信号进行滤波，将明显的噪声信号滤除。之后对探测到的对象是否对汽车造成威胁进行分析，具体，首先根据探测信息和汽车运行速度判断对象是否处于移动状态，若判断其处于静止状态，不做后续处理；若判断其处于运动状态，进一步根据移动对象与汽车之间的相对距离其是否处于靠近状态，若其离汽车越来越远，判断不会对汽车造成危险，不做后续处理；若离汽车越来越近，判断处于靠近 状态，可能会对汽车造成危险，之后持续对该移动对象进行监控，当与该移动对象之间的相对距离达到预先设定的距离阈值时，发出警告提醒驾驶员。这里距离阈值根据移动对象相对于汽车所处的方位进行预先设定，如，移动对象和汽车后方时，将该距离阈值设定为1米；当移动对象在汽车侧方(包括左侧和右侧)时，将该距离阈值设定为0.5米等，可以根据实际情况进行调整。
在判断探测的对象是否处于移动状态的过程中，根据与对象之间的距离及汽车的运行速度进行判断，具体，通过雷达发出和接收的毫米波直接测试与验算得到探测对象的移动速度、角度及距离信息(多普勒原理)。在本实例中，根据实时探测的移动对象的距离判断移动对象是否处于靠近状态。在其他实例中，也可以通过移动对象的移动速度进行判断，当移动对象的速度大于汽车的行驶速度，判断会对汽车造成危险；当判断移动对象的速度与汽车的速度相差不大、甚至小于汽车的速度，判断不会对汽车造成危险，不做后续处理。如，在一实例中，当汽车当前行驶的速度为60码，移动对象的速度为80码，判断移动对象可能对汽车造成危险，发出警告提醒驾驶员。
对上述实施方式进行改进得到本实施方式，在本实施方式中，报警装置150中包括安装于汽车左视镜上的左报警灯、安装于汽车右视镜上的右报警灯及蜂鸣器，左报警灯、右报警灯和蜂鸣器分别与雷达控制盒140连接。具体，当雷达控制盒140判断后方有移动对象靠近，且距离小于第一预设距离，控制蜂鸣器响警；当雷达控制盒140判断左方有移动对象靠近，且距离小于第二预设距离，控制左报警灯点亮及蜂鸣器响警；当雷达控制盒140判断右方有移动对象靠近，且距离小于第三预设距离，控制右报警灯点亮及蜂鸣器响警。第一预设距离、第二预设距离和第三预设距离均根据实际情况进行设定，如将第一预设距离设定为1米，将第二预设距离和第三预设距离设定为0.5米等，这里不做具体限定。
在另一实施例中，雷达控制盒140还分别与汽车的左转向灯和右转向灯连接；当雷达控制盒140判断左方有移动对象靠近，且距离小于第二预设距离，控制左转向灯点亮；当雷达控制盒140判断右方有移动对象靠近，且距离小于第三预设距离，控制右转向灯点亮。在该实例中，雷达控制盒140分别与左转 向灯和右转向灯连接，并根据后方来车的情况主动开启相应的转向灯，避免因驾驶人员的疏忽造成交通事故，进一步提升驾驶安全。
另外，汽车在行进过程中，当驾驶员控制左转向灯或右转向灯点亮需要进行相应的转向，左转向灯或右转向灯发送控制信号至毫米波雷达110，控制毫米波雷达110进行探测，并将探测信号发送至雷达控制盒140，判断相应方位上是否有其他移动对象会对汽车造成危险，若是，控制蜂鸣器报警。
在一实例中，如图2和图3所示，左雷达7和右雷达8分别安装于汽车后保杆的两侧；4个轮胎中分别安装一TPMS，分别为TPMS1(图示中标记1)、TPMS2(图示中标记2)、TPMS3(图示中标记3)及TPMS4(图示中标记4)；TPMS无线接收器11集成在雷达控制盒12内，且雷达控制盒12分别与左转向灯5、右转向灯6、左雷达7、右雷达8、左报警灯9和右报警灯10连接。
在工作过程中，开启左雷达7和右雷达8后，开始对汽车的后方和侧方进行探测，并将探测到的探测信号实时发送至雷达控制盒12；同时，TPMS1、TPMS2、TPMS3及TPMS4实时探测汽车的运行速度发送至雷达控制盒12。雷达控制盒12接收到探测信号和速度信号后，随即分别对探测信号和速度信号进行滤波，之后对探测到的对象是否对汽车造成威胁进行分析。具体，首先根据探测信息和汽车运动速度判断对象是否处于移动状态，若判断其处于静止状态，不做后续处理；若判断其处于运动状态，进一步根据移动对象与汽车之间的相对距离其是否处于靠近状态，若其离汽车越来越远，判断不会对汽车造成危险，不做后续处理；若离汽车越来越近，判断处于靠近状态，可能会对汽车造成危险。具体，当雷达控制盒判断后方有移动对象靠近，且距离小于第一预设距离(如1米)，控制蜂鸣器响警；当雷达控制盒判断左方有移动对象靠近，且距离小于第二预设距离(如0.5米)，控制左报警灯和左转向灯点亮的同时控制蜂鸣器响警；当雷达控制盒判断右方有移动对象靠近，且距离小于第三预设距离(如0.5米)，控制右报警灯和右转向灯点亮的同时控制蜂鸣器响警。
本发明还提供了一种汽车后方盲点监测方法，应用于上述汽车后方盲点监测系统，在一实施例中，如图4所示，该汽车后方盲点监测方法包括：
S10 接收毫米波雷达朝向汽车的后方和侧方探测的探测信号；
S20 接收设置于轮胎内的TPMS实时监测的汽车运行速度；
S30 根据探测信号和运行速度判断是否有移动对象靠近；
S40 若是，确定移动对象的靠近方位；
S50 根据移动对象的靠近方位进行相应的报警。
在本实施例中，
毫米波雷达安装于汽车后保杆上，两边各安装一个，包括左雷达和右雷达。至少在一个轮胎内安装TPMS，在汽车运行过程中，实时监测汽车的运行速度，同时监测轮胎的胎压和温度，TPMS通过TPMS无线接收器将监测数据发送至雷达控制盒，进而雷达控制盒对接收到的监测数据进行分析，判断轮胎是否正常工作，是否需要更换。在一实例中，在汽车的每个轮胎中设置一颗TPMS，对其进行监测。此外，雷达控制盒接收毫米波雷达的探测信号和汽车的运行速度并判断是否有移动对象靠近，当判断有移动对象靠近时进一步确定其靠近方位，报警装置根据移动对象的靠近方位进行相应的报警。
在工作过程中，开启毫米波雷达后，开始对汽车的后方和侧方进行探测，并将探测到的探测信号实时发送至雷达控制盒；同时，TPMS实时探测汽车的运行速度并发送至雷达控制盒。雷达控制盒接收到探测信号和汽车运行速度后随即开始进行数据处理，判断后方是否有会对汽车造成安全威胁的移动对象靠近。当判断有移动对象靠近，报警提示驾驶人员小心驾驶，避免发生交通事故。在该汽车后方盲点监测系统中，结合毫米波雷达的探测和TPMS的监测，实现后方来车等情况的报警，不再需要拆除中控台和仪表盘、破解can总线即能实现汽车后方监测的目的。
对上述实施方式进行改进得到本实施方式，在本实施方式中，汽车后方盲点监测方法包括：
S10 接收毫米波雷达朝向汽车的后方和侧方探测的探测信号；
S20 接收设置于轮胎内的TPMS实时监测的汽车运行速度；
S31 根据探测到的对象的距离及汽车的运行速度判断其是否处于移动状态；
S32 若是，判断与探测的对象的相对距离是否逐步减小；
S33 若是，判断移动对象处于靠近状态；
S40 若是，确定移动对象的靠近方位；
S50 根据移动对象的靠近方位进行相应的报警。
在工作过程中，开启毫米波雷达后，开始对汽车的后方和侧方进行探测，并将探测到的探测信号实时发送至雷达控制盒；同时，TPMS实时探测汽车的运行速度并发送至雷达控制盒。雷达控制盒接收到探测信号和汽车运行速度后随即开始进行数据处理，分别对探测信号和速度信号进行滤波，将明显的噪声信号滤除。之后对探测到的对象是否对汽车造成威胁进行分析，具体，首先根据探测信息和汽车运行速度判断对象是否处于移动状态，若判断其处于静止状态，不做后续处理；若判断其处于运动状态，进一步根据移动对象与汽车之间的相对距离其是否处于靠近状态，若其离汽车越来越远，判断不会对汽车造成危险，不做后续处理；若离汽车越来越近，判断处于靠近状态，可能会对汽车造成危险，之后持续对该移动对象进行监控，当与该移动对象之间的相对距离达到预先设定的距离阈值时，发出警告提醒驾驶员。这里距离阈值根据移动对象相对于汽车所处的方位进行预先设定，如，移动对象和汽车后方时，将该距离阈值设定为1米；当移动对象在汽车侧方时，将该距离阈值设定为0.5米等，可以根据实际情况进行调整。
在判断探测的对象是否处于移动状态的过程中，根据与对象之间的距离及汽车的运行速度进行判断，具体，通过雷达发出和接收的毫米波直接测试与验算得到探测对象的移动速度、角度及距离信息(多普勒原理)，在判断移动对象是否处于靠近状态时，根据实时探测的移动对象的距离进行判断。在其他实例中，也可以通过移动对象的移动速度进行判断，当移动对象的速度大于汽车的行驶速度，判断会对汽车造成危险；当判断移动对象的速度与汽车的速度相差不大、甚至小于汽车的速度，判断不会对汽车造成危险，不做后续处理。如，在一实例中，当汽车当前行驶的速度为60码，移动对象的速度为80码，判断移动对象可能对汽车造成危险，发出警告提醒驾驶员。
对上述实施方式进行改进，在本实施方式中，报警装置中包括安装于汽车左视镜上的左报警灯、安装于汽车右视镜上的右报警灯及蜂鸣器，左报警灯、 右报警灯和蜂鸣器分别与雷达控制盒连接。在根据移动对象的靠近方位进行相应的报警中包括：当判断后方有移动对象靠近，且距离小于第一预设距离，控制蜂鸣器响警；当判断左方有移动对象靠近，且距离小于第二预设距离，控制安装于汽车左视镜上的左报警灯点亮及蜂鸣器响警；当判断右方有移动对象靠近，且距离小于第三预设距离，控制安装于汽车右视镜上的右报警灯点亮及蜂鸣器响警。第一预设距离、第二预设距离和第三预设距离均根据实际情况进行设定，如将第一预设距离设定为1米，将第二预设距离和第三预设距离设定为0.5米等，这里不做具体限定。
在另一实施例中，雷达控制盒还分别与汽车的左转向灯和右转向灯连接；当雷达控制盒判断左方有移动对象靠近，且距离小于第二预设距离，控制左转向灯点亮；当雷达控制盒判断右方有移动对象靠近，且距离小于第三预设距离，控制右转向灯点亮。在该实例中，雷达控制盒分别与左转向灯和右转向灯连接，并根据后方来车的情况主动开启相应的转向灯，避免因驾驶人员的疏忽造成交通事故，进一步提升驾驶安全。
另外，汽车在行进过程中，当驾驶员控制左转向灯或右转向灯点亮需要进行相应的转向，左转向灯或右转向灯发送控制信号至毫米波雷达，控制毫米波雷达进行探测，并将探测信号发送至雷达控制盒，判断相应方位上是否有其他移动对象会对汽车造成危险，若是，控制蜂鸣器报警。
所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，仅以上述各程序模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的程序模块完成，即将装置的内部结构划分成不同的程序单元或模块，以完成以上描述的全部或者部分功能。实施例中的各程序模块可以集成在一个处理单元中，也可是各个单元单独物理存在，也可以两个或两个以上单元集成在一个处理单元中，上述集成的单元既可以采用硬件的形式实现，也可以采用软件程序单元的形式实现。另外，各程序模块的具体名称也只是为了便于相互区分，并不用于限制本申请的保护范围。
图5是本发明一个实施例中提供的雷达控制盒的结构示意图，如所示，该雷达控制盒140包括：处理器142、存储器141以及存储在存储器141中并可 在处理器142上运行的计算机程序1411，例如：汽车后方盲点监测程序。处理器142执行计算机程序1411时实现上述各个汽车后方盲点监测方法实施例中的步骤，或者，处理器142执行计算机程序1411时实现上述各汽车后方盲点监测系统实施例中各模块的功能。
雷达控制盒140可包括，但不仅限于处理器142、存储器141。本领域技术人员可以理解，图6仅仅是雷达控制盒140的示例，并不构成对雷达控制盒140的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件，例如：雷达控制盒140还可以包括输入输出设备、显示设备、网络接入设备、总线等。
处理器142可以是中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application SpecificIntegrated Circuit，ASIC)、现场可编程门阵列(Field-Programmable GateArray，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器142可以是微处理器或者该处理器也可以是任何常规的处理器等。
存储器141可以是雷达控制盒140的内部存储单元，例如：雷达控制盒140的硬盘或内存。存储器141也可以是雷达控制盒140的外部存储设备，例如：雷达控制盒140上配备的插接式硬盘，智能存储卡(Smart Media Card，SMC)，安全数字(Secure Digital，SD)卡，闪存卡(Flash Card)等。进一步地，存储器141还可以既包括雷达控制盒140的内部存储单元也包括外部存储设备。存储器141用于存储计算机程序1411以及雷达控制盒140所需要的其他程序和数据。存储器141还可以用于暂时地存储已经输出或者将要输出的数据。
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详细描述或记载的部分，可以参见其他实施例的相关描述。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描 述的功能，但是这种实现不应认为超出本申请的范围。
在本申请所提供的实施例中，应该理解到，所揭露雷达控制盒和方法，可以通过其他的方式实现。例如，以上所描述的雷达控制盒实施例仅仅是示意性的，例如，模块或单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如，多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通讯连接可以是通过一些接口，装置或单元的间接耦合或通讯连接，可以是电性、机械或其他的形式。
作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可能集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
集成的模块/单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读存储介质中。基于这样的理解，本发明实现上述实施例方法中的全部或部分流程，也可以通过计算机程序1411发送指令给相关的硬件完成，计算机程序1411可存储于一计算机可读存储介质中，该计算机程序1411在被处理器142执行时，可实现上述各个方法实施例的步骤。其中，计算机程序1411包括：计算机程序代码，计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。计算机可读存储介质可以包括：能够携带计算机程序1411代码的任何实体或装置、记录介质、U盘、移动硬盘、磁碟、光盘、计算机存储器、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、电载波信号、电信信号以及软件分发介质等。需要说明的是，计算机可读存储介质包含的内容可以根据司法管辖区内立法和专利实践的要求进行适当的增减，例如：在某些 司法管辖区，根据立法和专利实践，计算机可读介质不包括电载波信号和电信信号。
应当说明的是，上述实施例均可根据需要自由组合。以上所述仅是本发明的优选实施例，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。

Claims (10)

  1. 一种汽车后方盲点监测系统，其特征在于，包括：
    设置于汽车后保杆上的毫米波雷达，用于朝向汽车的后方和侧方探测；
    设置于轮胎内的TPMS，用于实时监测汽车的运行速度；
    与所述TPMS通信连接的TPMS无线接收器，用于接收TPMS发送的监测数据；
    分别与所述毫米波雷达和TPMS无线接收器连接的雷达控制盒，用于接收毫米波雷达的探测信号和汽车的运行速度并判断是否有移动对象靠近，及当判断有移动对象靠近时确定其靠近方位；
    与所述雷达控制盒连接的报警装置，用于根据所述雷达控制盒的判断结果进行相应的报警。
  2. 如权利要求1所述的汽车后方盲点监测系统，其特征在于，所述汽车后方盲点监测系统中包括4颗TPMS，分别设置于汽车的四个轮胎内，监测轮胎的胎压、温度及运行速度。
  3. 如权利要求1或2所述的汽车后方盲点监测系统，其特征在于，在雷达控制盒中，根据探测到的对象的距离及汽车的运行速度判断其是否处于移动状态；当判断探测的对象处于移动状态且相对距离逐步减小，判断移动对象处于靠近状态，并进一步判断处于靠近状态的移动对象的靠近方位。
  4. 如权利要求1或2所述的汽车后方盲点监测系统，其特征在于，
    所述报警装置中包括安装于汽车左视镜上的左报警灯、安装于汽车右视镜上的右报警灯及蜂鸣器，所述左报警灯、右报警灯和蜂鸣器分别与雷达控制盒连接；
    当雷达控制盒判断后方有移动对象靠近，且距离小于第一预设距离，控制蜂鸣器响警；
    当雷达控制盒判断左方有移动对象靠近，且距离小于第二预设距离，控制左报警灯点亮及蜂鸣器响警；
    当雷达控制盒判断右方有移动对象靠近，且距离小于第三预设距离，控制右报警灯点亮及蜂鸣器响警；
    和/或，所述雷达控制盒还分别与汽车的左转向灯和右转向灯连接；
    当雷达控制盒判断左方有移动对象靠近，且距离小于第二预设距离，控制左转向灯点亮；
    当雷达控制盒判断右方有移动对象靠近，且距离小于第三预设距离，控制右转向灯点亮。
    当左转向灯或右转向灯接收到中控台发送的点亮信号，发送控制信号至毫米波雷达，控制毫米波雷达进行探测。
  5. 一种汽车后方盲点监测方法，其特征在于，包括：
    接收毫米波雷达朝向汽车的后方和侧方探测的探测信号；
    接收设置于轮胎内的TPMS实时监测的汽车运行速度；
    根据所述探测信号和运行速度判断是否有移动对象靠近；
    若是，确定移动对象的靠近方位；
    根据移动对象的靠近方位进行相应的报警。
  6. 如权利要求5所述的汽车后方盲点监测方法，其特征在于，在根据所述探测信号和运行速度判断是否有移动对象靠近中包括：
    根据探测到的对象的距离及汽车的运行速度判断其是否处于移动状态；
    若是，判断与探测的对象的相对距离是否逐步减小；
    若是，判断移动对象处于靠近状态。
  7. 如权利要求5或6所述的汽车后方盲点监测方法，其特征在于，
    在根据移动对象的靠近方位进行相应的报警中包括：
    当判断后方有移动对象靠近，且距离小于第一预设距离，控制蜂鸣器响警；
    当判断左方有移动对象靠近，且距离小于第二预设距离，控制安装于汽车左视镜上的左报警灯点亮及蜂鸣器响警；
    当判断右方有移动对象靠近，且距离小于第三预设距离，控制安装于汽车右视镜上的右报警灯点亮及蜂鸣器响警；
    和/或，在根据移动对象的靠近方位进行相应的报警中包括：
    当判断左方有移动对象靠近，且距离小于第二预设距离，控制左转向灯 点亮；
    当判断右方有移动对象靠近，且距离小于第三预设距离，控制右转向灯点亮。
  8. 如权利要求5或6所述的汽车后方盲点监测方法，其特征在于，所述汽车后方盲点监测方法中还包括：
    判断左转向灯或右转向灯是否接收到中控台发送的点亮信号；
    若是，发送控制信号至毫米波雷达，控制毫米波雷达进行探测。
  9. 一种雷达控制盒，包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，其特征在于，所述处理器运行所述计算机程序时实现如权利要求5-8中任一项所述汽车后方盲点监测方法的步骤。
  10. 一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求5-8中任一项所述汽车后方盲点监测方法的步骤。
PCT/CN2019/119801 2019-09-24 2019-11-20 汽车后方盲点监测系统及方法、雷达控制盒 WO2021056781A1 (zh)

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