CN108061881A - Expand the device and control method of intelligent driving trailer-mounted radar sensing range - Google Patents
Expand the device and control method of intelligent driving trailer-mounted radar sensing range Download PDFInfo
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- CN108061881A CN108061881A CN201711007750.1A CN201711007750A CN108061881A CN 108061881 A CN108061881 A CN 108061881A CN 201711007750 A CN201711007750 A CN 201711007750A CN 108061881 A CN108061881 A CN 108061881A
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9314—Parking operations
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention relates to a kind of devices for expanding intelligent driving trailer-mounted radar sensing range, it is characterised in that：Controller control DC stepper motor drives radar fixing bracket and vehicle environment detecting sensor module to rotate together, the information that perceives of vehicle-mounted environment sensing sensor assembly under the rotation angle and current angular of controller synchronous recording step direct current stepper motor obtains DC stepper motor and vehicle environment detecting sensor the module obstacle information of scanned whole region together in itself by calculating.Wherein trailer-mounted radar includes but not limited to laser radar, for being detected existing for the radar system of existing vehicle-mounted fixed installation between area coverage and matching cost, there are contradictory problems, it can realize that any angle in the range of 0 180 ° of horizontal or vertical direction covers scanning, of simple structure and low cost, strong applicability by the device and control method;The device can expand the scanning range of radar.
Description
Technical field
The present invention relates to a kind of devices and control method for expanding intelligent driving trailer-mounted radar sensing range, belong to vehicle driving
Information perception and processing technical field.
Background technology
The introducing of Intelligent Vehicle System can improve the security of traffic and the utilization rate of the energy.At present, in automobile, card
The fields such as vehicle, public transit system, industry, military Intelligent Vehicle System is obtained for application, as intelligent vehicle context aware systems
Core component, trailer-mounted radar technology also developing rapidly.
Trailer-mounted radar is widely applied a kind of sensing system in Intelligent Vehicle Driving System, it mainly includes ultrasound
Three kinds of ripple radar, microwave radar and laser radar.The wherein effective ranging of ultrasonic radar only has several meters, generally as radar for backing car
Using；The effective ranging of microwave radar is more remote than ultrasonic radar, and up to 100 meters or so, but its angle of divergence is big, measures target range
It is not high with precision during position, it is mainly used for testing the speed in practical application, ranging；Laser radar is because of its high certainty of measurement, and ranging is remote, property
Can be excellent the features such as, positions for measuring vehicle speed, ranging and target.
Because detection width is limited in scope, common reverse radar system is mostly made of 8 or 12 radar probes, matches cost
Height, and being interfered with each other between radar, can only intermittently time-sharing work；Millimetre-wave radar detection angle scope smaller is long away from millimeter wave
Radar detection angle only has ten degree or so, and middle length also only has 90 degree or so away from millimetre-wave radar detection angle scope, to full
The requirement that sufficient measurement range is remote and investigative range is wide must just install length away from millimetre-wave radar and middle length away from multiple thunders such as millimeter wave
It reaches, causes cost higher；The dispersion angle of laser radar is minimum, only several centimetres beyond several kilometers, if realizing big model
Covering effectively detection is enclosed, then needs to assemble multi-thread scanning radar, cost is extremely expensive.
Patent CN201110342955.1 discloses a kind of vehicle-mounted four wire laser radar system, mainly by emission system,
Reception system, optical system and scanning system composition.By DC stepper motor laser rotation mode is controlled to realize that radar is swept
It retouches, can realize the laser radar scanning covering of lower cost.But the system is only capable of realizing the scanning probe of laser radar, nothing
Method is used in millimetre-wave radar, ultrasonic radar.
Patent CN200310117381.3 discloses a kind of vehicle scanning Airborne Lidar examining system, in laser radar sheet
Additional stepper motor, controller, scan components, biconvex wheel drive mechanism, V-arrangement swing-bar mechanism, optoelectronic switch etc. on the basis of body.It is logical
It crosses stepper motor rotation and drives cam drive system, double cam, which rotates, drives V-arrangement swing-bar mechanism, and V-type swing rod and scan mirror are firm
Property connection, and then mutually perpendicular scan mirror is made to rotate a certain angle so that laser at an angle scope in vehicle
Particles in front of.But the system certainly existed in practicality two it is serious the problem of：The vehicle scanning laser thunder first
Complicated up to detection system, positioning accuracy can also be influenced by complicated transmission device；Secondly, the vehicle scanning laser radar
Detection system can only expansion of laser light radar in the horizontal direction investigative range, can not realize that the scanning of vertical direction investigative range is covered
Lid.
The content of the invention
Present invention aims at provide it is a kind of expand intelligent driving trailer-mounted radar sensing range device and control method,
Middle trailer-mounted radar includes but not limited to laser radar, and covering surface is detected for existing for the radar system of existing vehicle-mounted fixed installation
There are contradictory problems between product and matching cost, 0-180 ° of horizontal or vertical direction can be realized by the device and control method
In the range of any angle covering scanning, of simple structure and low cost, strong applicability;The device can expand the scanning of radar
Scope, and real-time, the accurate obstacle information for the whole scanning ranges of calculating acquisition for passing through controller.
To achieve the above object, the technical proposal of the invention is realized in this way：A kind of expansion intelligent driving trailer-mounted radar
The device of sensing range, by being controlled motor, the radar fixing bracket that is connected with controlled electromechanics and electrical with controlled motor
The vehicle-mounted of connection forms for electric installation and controller；It is characterized in that：The controlled motor of controller control drives radar fixing bracket
It is rotated together with vehicle environment detecting sensor module, controller synchronous recording is controlled under the rotation angle and current angular of motor
The information that vehicle environment detecting sensor module perceives obtains controlled motor and vehicle environment detecting sensor mould by calculating
The block obstacle information of scanned whole region together in itself.
The vehicle environment detecting sensor module includes millimetre-wave radar, laser radar.
Controlled motor is mechanically connected with vehicle environment detecting sensor module, for driving vehicle environment detecting sensor mould
Block rotates, and realizes the scanning probe in the range of specified angle；
Vehicle environment detecting sensor module is connected with controlled electromechanics, detection obstacle distance, speed, azimuth information；
Intelligent driving controller is used for the control of intelligent driving system, receives and processes the perception letter from trailer-mounted radar module
Breath；
Environment sensing information switching control system is made of motor angle detection module and environment sensing information switching controller, ring
Border perception information switching controller can control controlled motor rotation according to the motor rotation angle of motor angle detection module back production,
So as to drive the scanning probe connected firmly in the range of the sensor of the trailer-mounted radar on motor realization specified angle；And it will detect
The information such as barrier speed, distance, orientation and environment sensing sensor and direction of traffic angulation carry out conversion calculating,
To obtain to the effective data of vehicle, carry out mutually verification finally by the perception information to repeatedly obtaining and confirm, it is final to send
It is used to intelligent driving controller.
It is vehicle-mounted to be used to power for the present apparatus for electric installation；
The DC stepper motor that Vehicular equipment fixing device is used to will be connected to vehicle environment detecting sensor module is fixed on vehicle
On body；
Intelligent driving controller is used for the control of intelligent driving system, receives and with from environment sensing information conversion and control system
The perception information of system.
A kind of control method for expanding intelligent driving trailer-mounted radar sensing range, it is characterised in that specific rate-determining steps are such as
Under：
After the power is turned on, the present apparatus is started to work for S1, vehicle sparking；
S2, environmental perception module obtain vehicle front obstacle distance/orientation/speed in real time（With reference to local Coordinate System）；
S3, motor angle detection module obtain motor rotation angle（With reference to vehicle axis system）；
S4, environment sensing information switching controller convert the vehicle environment detecting sensor module perception data information collected
To vehicle axis system；
S5, environment sensing information switching control system will mutually verify between multiple perception information；
S6, environment sensing information switching control system carry out the accurate sex determination of perception information；
S7, environment sensing information switching control system are exported by CAN and used to intelligent driving controller.
The positive effect of the present invention be expand intelligent driving trailer-mounted radar sensing range Control system architecture is simple, cost
It is low, control accuracy is high, be applicable to various millimetre-wave radars, laser radar sensor sensing range expansion, realize to the greatest extent
On the premise of may number of sensors being installed less, expand trailer-mounted radar sensing range, reduce detection blind area, and according to installation side
The difference of formula, the system can realize the covering scanning in the range of 0-180 ° of horizontal or vertical direction, improve intelligent driving system
Security and substantially reduce the matching cost of its context aware systems.
Description of the drawings
Fig. 1 is the structure of the control system of the expansion intelligent driving trailer-mounted radar sensing range of one embodiment of the present of invention
Schematic diagram.Wherein environment sensing sensor assembly could alternatively be mobile lidar sensor, vehicle-mounted millimeter wave radar sensing
Device.
Fig. 2 is a kind of flow chart of the control method of expansion intelligent driving trailer-mounted radar sensing range of the present invention.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawings and examples.It should be appreciated that specific reality described herein
Example is applied only to explain the present invention, is not intended to limit the present invention.A kind of dress for expanding intelligent driving trailer-mounted radar sensing range
It puts, by being controlled motor 103, the radar fixing bracket being mechanically connected with controlled motor 103 and electrically connecting with controlled motor 103
What is connect is vehicle-mounted for electric installation 106 and controller composition；It is characterized in that：The controlled motor 103 of controller control drives radar to fix
Stent and vehicle environment detecting sensor module 104 rotate together, and controller synchronous recording walks the rotation angle of direct current stepper motor
With the information that vehicle-mounted environment sensing sensor assembly 104 perceives under current angular, by calculate obtain DC stepper motor and
The obstacle information of vehicle environment detecting sensor module 104 scanned whole region together itself.
The vehicle environment detecting sensor module 104 includes millimetre-wave radar, laser radar.
Controlled motor 103 is mechanically connected with vehicle environment detecting sensor module 104, is passed for vehicle environment to be driven to perceive
Sensor module 104 rotates, and realizes the scanning probe in the range of specified angle；
Vehicle environment detecting sensor module 104 is mechanically connected with controlled motor 103, detection obstacle distance, speed, orientation letter
Breath；
Intelligent driving controller 101 is used for the control of intelligent driving system, receives and processes the perception from trailer-mounted radar module
Information；
Environment sensing information switching control system 102 is by motor angle detection module and environment sensing information switching controller group
Into environment sensing information switching controller can control controlled motor according to the motor rotation angle of motor angle detection module back production
103 rotations, so as to drive the realization specified angle model of vehicle environment detecting sensor module 104 connected firmly on controlled motor 103
Enclose interior scanning probe；And by the information such as the barrier speed detected, distance, orientation and environment sensing sensor with driving a vehicle
Direction angulation carries out conversion calculating, to obtain to the effective data of vehicle, believes finally by the perception to repeatedly obtaining
Breath carries out mutually verification confirmation, is ultimately sent to intelligent driving controller 101 and uses.
It is vehicle-mounted to be used to power for the present apparatus for electric installation 106；
The controlled motor 103 that Vehicular equipment fixing device 105 is used to will be connected to vehicle environment detecting sensor module 104 is fixed
On the car body；
Intelligent driving controller 101 is used for the control of intelligent driving system, receives and with from the conversion control of environment sensing information
The perception information of system 102 processed；
A kind of as shown in Fig. 2, control method for expanding intelligent driving trailer-mounted radar sensing range, it is characterised in that specific control
Step is as follows：
After the power is turned on, the present apparatus is started to work for S1, vehicle sparking；
S2, environmental perception module obtain vehicle front obstacle distance/orientation/speed in real time（With reference to local Coordinate System）；
S3, motor angle detection module obtain motor rotation angle（With reference to vehicle axis system）；
104 perception data of vehicle environment detecting sensor module that S4, environment sensing information switching control system 102 will collect
Information is transformed into vehicle axis system；
S5, environment sensing information switching control system 102 will mutually verify between multiple perception information；
S6, environment sensing information switching control system 102 carry out the accurate sex determination of perception information；
S7, environment sensing information switching control system 102 are exported by CAN and used to intelligent driving controller 101.
The system as shown in Figure 1 works in running car, and specific work process is：Environment sensing information conversion and control system
System 102 sends motor control instruction to controlled motor 103, is allowed to rotate according to command speed and direction, controlled motor 103 rotates
And environment sensing sensor assembly 104 is driven, it is allowed to be detected at an angle with vehicle heading, environment sensing sensing
Device module 104104 exports the obstacle information that perceives, this information using 104 local Coordinate System of environment sensing sensor to refer to,
And it exports to environment sensing information switching control system 102.Environment sensing information switching control system 102 passes through motor angle simultaneously
Degree detection module detects the accurate angle value of motor rotation, that is, environment sensing sensor assembly 104 and vehicle traveling side in real time
To angulation value, controlled for motor, while the angle value is also used for the coordinate transferring of environment sensing information data,
The perception information that environment sensing sensor assembly 104 exports is transformed into vehicle axis system, final output is effective to vehicle
Data；To ensure the accuracy of perception information, identification mistake is avoided, which also has
The obstacle information of close several Periodic identifications is carried out soundness verification, it is ensured that pass through after information is errorless by information checking function
CAN is exported to intelligent driving controller 101.Wherein environment sensing sensor assembly 104 could alternatively be mobile lidar biography
Sensor, vehicle-mounted millimeter wave radar sensor etc..
To sum up, a kind of control system and method for expanding intelligent driving trailer-mounted radar sensing range provided in this embodiment,
By the way that controlled motor 103 is controlled to rotate, vehicle environment detecting sensor module 104 is driven to realize scanning, the environment sensing passes
Sensor module 104 can be laser radar, millimetre-wave radar, which may be implemented in installs number of sensors as few as possible
Under the premise of, expand trailer-mounted radar sensing range, reduce detection blind area, improve the security of intelligent driving system and substantially reduce it
The matching cost of context aware systems.
It is understood that the principle that embodiment of above is intended to be merely illustrative of the present and the exemplary implementation that uses
Mode, however the present invention is not limited thereto.For those skilled in the art, the essence of the present invention is not being departed from
In the case of refreshing and essence, various changes and modifications can be made therein, these variations and modifications are also considered as protection scope of the present invention.
Claims (3)
1. a kind of device for expanding intelligent driving trailer-mounted radar sensing range is connected by controlled motor, with controlled electromechanics
Radar fixing bracket and the vehicle-mounted confession electric installation being electrically connected with controlled motor and controller form；It is characterized in that：Control
The controlled motor of device control drives radar fixing bracket and vehicle environment detecting sensor module to rotate together, controller synchronous recording
The information that vehicle-mounted environment sensing sensor assembly perceives under the rotation angle and current angular of controlled motor, is obtained by calculating
Controlled motor and vehicle environment detecting sensor the module obstacle information of scanned whole region together in itself；Controlled motor
It is mechanically connected with vehicle environment detecting sensor module, for vehicle environment detecting sensor module to be driven to rotate, realizes and specify
Scanning probe in angular range；
Vehicle environment detecting sensor module is connected with controlled electromechanics, detection obstacle distance, speed, azimuth information；
Intelligent driving controller is used for the control of intelligent driving system, receives and processes the perception letter from trailer-mounted radar module
Breath；
Environment sensing information switching control system is made of motor angle detection module and environment sensing information switching controller, ring
Border perception information switching controller can control controlled motor rotation according to the motor rotation angle of motor angle detection module back production,
So as to drive the scanning probe connected firmly in the range of the sensor of the trailer-mounted radar on motor realization specified angle；And it will detect
The information such as barrier speed, distance, orientation and environment sensing sensor and direction of traffic angulation carry out conversion calculating,
To obtain to the effective data of vehicle, carry out mutually verification finally by the perception information to repeatedly obtaining and confirm, it is final to send
It is used to intelligent driving controller；
The DC stepper motor that Vehicular equipment fixing device is used to will be connected to vehicle environment detecting sensor module is fixed on vehicle
On body；
Intelligent driving controller is used for the control of intelligent driving system, receives and with from environment sensing information conversion and control system
The perception information of system.
A kind of 2. device for expanding intelligent driving trailer-mounted radar sensing range according to claim 1, it is characterised in that institute
The vehicle environment detecting sensor module stated includes millimetre-wave radar, laser radar.
3. a kind of control method for expanding intelligent driving trailer-mounted radar sensing range, it is characterised in that specific rate-determining steps are such as
Under：
After the power is turned on, the present apparatus is started to work for S1, vehicle sparking；
S2, environmental perception module obtain vehicle front obstacle distance/orientation/speed in real time（With reference to local Coordinate System）；
S3, motor angle detection module obtain motor rotation angle（With reference to vehicle axis system）；
S4, environment sensing information switching controller convert the vehicle environment detecting sensor module perception data information collected
To vehicle axis system；
S5, environment sensing information switching control system will mutually verify between multiple perception information；
S6, environment sensing information switching control system carry out the accurate sex determination of perception information；
S7, environment sensing information switching control system are exported by CAN and used to intelligent driving controller.
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|---|---|---|---|---|
| CN109521428A (en) * | 2018-12-11 | 2019-03-26 | 安徽江淮汽车集团股份有限公司 | A kind of dynamic lane width gate method effectively reducing blind monitoring system rate of failing to report |
| CN110244270A (en) * | 2019-06-26 | 2019-09-17 | 深圳迈睿智能科技有限公司 | A kind of induction test device and the test method for microwave detector |
| CN110457762A (en) * | 2019-07-17 | 2019-11-15 | 中国第一汽车股份有限公司 | Test macro and method for vehicle blind zone detection |
| CN110579765A (en) * | 2019-09-19 | 2019-12-17 | 中国第一汽车股份有限公司 | Obstacle information determination method, obstacle information determination device, vehicle, and storage medium |
| CN111278006A (en) * | 2020-01-21 | 2020-06-12 | 重庆长安汽车股份有限公司 | V2X-based perception information reliability verification method, device, controller and automobile |
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| CN118033598A (en) * | 2024-04-15 | 2024-05-14 | 深圳市速腾聚创科技有限公司 | Laser radar control method, laser radar control device and computer readable storage medium |
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| CN109521428A (en) * | 2018-12-11 | 2019-03-26 | 安徽江淮汽车集团股份有限公司 | A kind of dynamic lane width gate method effectively reducing blind monitoring system rate of failing to report |
| CN109521428B (en) * | 2018-12-11 | 2021-11-30 | 安徽江淮汽车集团股份有限公司 | Dynamic lane width threshold method for effectively reducing missing report rate of blind spot monitoring system |
| CN110244270A (en) * | 2019-06-26 | 2019-09-17 | 深圳迈睿智能科技有限公司 | A kind of induction test device and the test method for microwave detector |
| CN110244270B (en) * | 2019-06-26 | 2024-06-07 | 深圳迈睿智能科技有限公司 | Induction testing device and testing method for microwave detector |
| CN110457762A (en) * | 2019-07-17 | 2019-11-15 | 中国第一汽车股份有限公司 | Test macro and method for vehicle blind zone detection |
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Application publication date: 20180522 |