CN101158720A - Reversing radar device and method for automatically revising scanning range of sensor - Google Patents

Abstract

The invention relates to a reversing radar device and a method thereof for automatically revising the scanning range of a sensor, the device mainly comprises a central processing unit, a memory unit, an ultrasonic transmitting/receiving module, a signal amplifying module and a warning module, wherein the central processing unit is preset with a compensation value and a critical distance, when the reversing radar device is started, the peripheral state is recorded as an initial sensing value, the subsequent sensing value recorded by sensing the peripheral state during reversing is compared with the initial sensing value, when the subsequent sensing value is greater than the initial sensing value and the compensation value, the actual distance between an obstacle and ultrasonic sensors positioned at two sides of the tail of a vehicle is judged whether to be greater than the critical distance, if so, the compensation value is increased, therefore, the obstacle needs to be closer to the ultrasonic sensors to enable the reversing radar to detect that the obstacle exists, so as to reduce the sensitivity of the ultrasonic sensors at the two sides of the car tail and achieve the purpose of avoiding false operation of the car backing radar.

Description

Reversing radar device and method for automatically revising sensor scanning range

technical field

The invention relates to a reversing radar, in particular to a reversing radar device capable of automatically revising the scanning range of a sensor and a method for automatically revising the scanning range of the sensor.

Background technique

In order to make the driver park more safely and conveniently, most vehicles are now equipped with reversing radar devices to reduce the accidents caused by the difficulty of judging whether there are obstacles behind the driver when parking. The common reversing radar uses ultrasonic The sensor emits ultrasonic waves to the rear of the vehicle, and detects whether there are obstacles behind the vehicle by receiving reflected waves. When the ultrasonic waves encounter obstacles during the traveling process, the ultrasonic waves will be reflected, and the ultrasonic wave The sensor receives it, and then calculates the actual distance between the obstacle and the sensor according to the transmission speed of the sound wave (340 meters per second).

However, the general ultrasonic sensor 32 emits ultrasonic waves in a fan shape (as shown in FIG. 4 ), rather than a semicircle, so the scanning range of the ultrasonic sensor 32 must appear incomplete in the scanning blind area 320, and if it is The scope of above-mentioned scanning dead zone 320 is reduced to minimum, then must make ultrasonic sensor 32 emit ultrasonic (as shown in Figure 5 ) with close to semicircular range as far as possible, only in this way, ultrasonic sensor 32 Due to the large scanning range, obstacles that are not directly behind the car body may be scanned, and an obstacle warning will be issued, causing the driver to misjudge.

In order to solve the above problems, some manufacturers have designed a new ultrasonic sensor, whose outer scanning range is smaller than that of the aforementioned ultrasonic sensor. Objects located on both sides of the vehicle body generate induction; however, two different types of ultrasonic sensors must be installed on one vehicle at the same time, which is not only difficult to install and maintain, but also increases the production cost.

This shows that the above-mentioned existing parking radar device obviously still has inconvenience and defects in product structure, manufacturing method and use, and needs to be further improved urgently. In order to solve the above-mentioned problems, the relevant manufacturers have tried their best to find a solution, but no suitable design has been developed for a long time, and there is no suitable structure and method for general products and methods to solve the above-mentioned problems. This is obviously a problem that relevant industry players are eager to solve. Therefore, how to create a new reversing radar device and method for automatically revising the scanning range of the sensor is one of the current important research and development topics, and has become a goal that the industry needs to improve.

In view of the defects in the above-mentioned existing reversing radar device, the inventor actively researches and innovates based on his rich practical experience and professional knowledge in the design and manufacture of this type of product for many years, and cooperates with the application of academic theory, in order to create a new automatic parking sensor. The reversing radar device which revises the scanning range of the sensor can improve the general existing reversing radar device and make it more practical. Through continuous research, design, and after repeated trial samples and improvements, the present invention with practical value is finally created.

Contents of the invention

The main purpose of the present invention is to overcome the defects of the existing reversing radar sensor scanning range, and provide a novel method for automatically revising the sensor scanning range. The technical problem to be solved is to provide an automatic The method of revising the scanning range of the reversing radar sensor dynamically adjusts the sensitivity of the sensors located on both sides of the rear of the vehicle to solve the shortcoming that the conventional reversing radar device is prone to misoperation, so that it is more suitable for practical use.

Another object of the present invention is to overcome the defects existing in the existing parking radar device, and provide a new parking radar device that automatically revises the sensor scanning range, and the technical problem to be solved is to make it automatically revise the sensor The scanning range is more suitable for practical use.

The purpose of the present invention and the solution to its technical problems are achieved by adopting the following technical solutions. A method for automatically revising the scanning range of a reversing radar sensor according to the present invention is applied in a central processing unit of a reversing radar device, and is characterized in that it includes the following steps: preset a plurality of corresponding ultrasonic sensors compensation value and a critical distance; when the reversing radar device is started, a plurality of ultrasonic sensors will send out ultrasonic waves for obstacle sensing, and obtain initial sensing results of a plurality of corresponding ultrasonic sensors; each initial The sensing results are respectively stored as an initial sensing value; the ultrasonic sensor continues to perform obstacle sensing to obtain a plurality of subsequent sensing results corresponding to the ultrasonic sensor; each subsequent sensing result is stored as a Subsequent sensing value; when the subsequent sensing value corresponding to any ultrasonic sensor is greater than the "initial sensing value + compensation value", it is determined that an obstacle is sensed, and the distance between the obstacle and the ultrasonic sensor is calculated. The actual distance between the obstacles; if the actual distance between the obstacle and the ultrasonic sensors located on both sides of the rear is greater than the critical distance, then increase the compensation value to reduce the ultrasonic sensors located on both sides of the rear sensitivity.

The purpose of the present invention and its technical problems can also be further realized by adopting the following technical measures.

In the aforementioned method for automatically revising the scanning range of the reversing radar sensor, the central processing unit may be an ATMega8 microprocessor.

The purpose of the present invention and the solution to its technical problem also adopt the following technical solutions to achieve. According to a kind of reversing radar device that automatically revises the scanning range of the sensor proposed by the present invention, it is characterized in that the device mainly includes: a central processing unit; a memory unit, which is connected to the aforementioned central processing unit; an ultrasonic transmission/reception The module is used to transmit and receive ultrasonic waves, which includes a plurality of sensor driving circuits and a plurality of ultrasonic sensors, wherein each ultrasonic sensor is connected to the aforementioned central processing unit through the sensor driving circuit , controlled by the central processing unit to drive the ultrasonic sensor to emit ultrasonic waves; a signal amplification module is connected between the aforementioned central processing unit and the ultrasonic transmitting/receiving module to receive the ultrasonic sensor The signal is amplified and sent to the central processing unit; a warning module is connected to the central processing unit to remind the driver of obstacle information.

The purpose of the present invention and its technical problems can also be further realized by adopting the following technical measures.

The aforementioned reversing radar device that automatically revises the scanning range of the sensor, wherein the ultrasonic transmitting/receiving module further includes a multiplexer, connected to the central processing unit, the sensor driving circuit and the signal amplification module, by The signal amplified by the signal amplifying module is selected by switching of the multiplexer.

The aforementioned reversing radar device that automatically revises the scanning range of the sensor, wherein the warning module includes a display unit and a sound warning unit, wherein: the display unit is connected to the aforementioned central processing unit through a display drive circuit; the sound The warning unit is a buzzer, which is connected to the central processing unit through a sound driving circuit.

In the above-mentioned reversing radar device for automatically revising the scanning range of the sensor, the memory unit is built in the central processing unit.

In the above-mentioned reversing radar device for automatically revising the scanning range of the sensor, the central processing unit is a microprocessor whose model is ATMega8.

Compared with the prior art, the present invention has obvious advantages and beneficial effects. As can be seen from above technical scheme, main technical content of the present invention is as follows:

In order to achieve the above object, the present invention provides a reversing radar device and method for automatically revising the scanning range of the sensor,

The main technical means adopted for reaching the aforementioned purpose is to apply the aforementioned method in the central processing unit of a parking radar device, which mainly includes the following steps:

preset a plurality of compensation values corresponding to the ultrasonic sensors and a critical distance;

When the reversing radar device is activated, a plurality of ultrasonic sensors immediately emit ultrasonic waves for obstacle sensing, and obtain initial sensing results of a plurality of corresponding ultrasonic sensors;

storing each initial sensing result as an initial sensing value;

The ultrasonic sensor continues to perform obstacle sensing, and obtains a plurality of subsequent sensing results corresponding to the ultrasonic sensor;

storing each subsequent sensing result as a subsequent sensing value;

When the subsequent sensing value corresponding to any ultrasonic sensor is greater than the "initial sensing value + compensation value", it is determined that an obstacle is sensed, and the actual distance between the obstacle and the ultrasonic sensor is calculated ;

If the actual distance between the obstacle and the ultrasonic sensors located on both sides of the rear of the vehicle is greater than the critical distance (for example, 60 cm), the compensation value is increased.

In addition, in order to achieve the above object, the present invention further provides a reversing radar device that automatically revises the scanning range of the sensor, which mainly includes:

a central processing unit;

A memory unit is connected to the aforementioned central processing unit;

An ultrasonic transmitting/receiving module for transmitting and receiving ultrasonic waves, which includes a plurality of sensor drive circuits and a plurality of ultrasonic sensors, wherein each ultrasonic sensor is driven through the sensor respectively The circuit is connected to the aforementioned central processing unit, and the central processing unit controls and drives the ultrasonic sensor to emit ultrasonic waves;

A signal amplification module is connected between the aforementioned central processing unit and the ultrasonic transmitting/receiving module to amplify the signal received by the ultrasonic sensor and then send it to the central processing unit;

A warning module is connected to the aforementioned central processing unit and is used to remind the driver of obstacle information.

The aforementioned ultrasonic transmitting/receiving module further includes a multiplexer, which is connected to the central processing unit, the sensor drive circuit and the signal amplification module. signal.

The aforementioned memory unit can be built in a central processing unit, which can be a microprocessor model ATMega8.

The aforementioned warning module includes a display unit and an audio warning unit, wherein:

The display unit is connected to the aforementioned central processing unit through a display driving circuit;

The sound warning unit is a buzzer, which is connected to the central processing unit through a sound driving circuit.

By virtue of the above-mentioned technical solution, the reversing radar device and its method for automatically revising the scanning range of the sensor in the present invention have at least the following advantages:

Using the above-mentioned technical means, it is possible to judge whether there is an obstacle within the critical distance, and increase the compensation value to improve the conditions for judging that there is an obstacle, which is equivalent to reducing the sensitivity of the ultrasonic sensor, so it is possible to dynamically adjust the location of the vehicle. The sensitivity of the sensors on both sides of the rear prevents the sensor from detecting objects not behind the vehicle body due to the wide scanning range of the sensors, which may cause the reversing radar device to malfunction.

In summary, it can be seen from the above that the present invention relates to a reversing radar device and method for automatically revising the scanning range of the sensor. The device mainly includes a central processing unit, a memory unit, and an ultrasonic sensor. Transmitting/receiving module, a signal amplification module and a warning module, wherein the central processing unit is preset with a compensation value and a critical distance. Compare the subsequent sensing value recorded by sensing the surrounding state when reversing with the initial sensing value, and when the subsequent sensing value is greater than the "initial sensing value + compensation value", it is judged that the obstacle is related to the vehicle on both sides of the rear Whether the actual distance between the ultrasonic sensors is greater than the critical distance, if so, increase the compensation value, so the obstacle must be closer to the ultrasonic sensor in order for the reversing radar to detect that there is an obstacle, so as to reduce the speed of the vehicle. The sensitivity of the ultrasonic sensors on both sides of the tail can avoid the misoperation of the reversing radar. The present invention has the above-mentioned many advantages and practical value, and it has great improvement no matter in product structure, method or function, has significant progress in technology, and has produced easy-to-use and practical effects, and compared with existing The reversing radar device and the scanning range of the sensor have enhanced outstanding functions, are more suitable for practical use, and have extensive application value in the industry. It is a novel, progressive and practical new design.

The above description is only an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention, it can be implemented according to the contents of the description, and in order to make the above and other purposes, features and advantages of the present invention more obvious and understandable , the following preferred embodiments are specifically cited below, and are described in detail as follows in conjunction with the accompanying drawings.

Description of drawings

Fig. 1 is a block diagram of the parking radar device of the present invention.

Fig. 2 is a circuit diagram of an embodiment of the reversing radar device of the present invention.

Figure 3 is a flow chart of the method of the present invention.

FIG. 4 is a schematic diagram of a scanning range of an ultrasonic sensor of a conventional parking radar device.

FIG. 5 is a schematic diagram of a scanning range of an ultrasonic sensor of another parking radar device.

10: Central processing unit 20: Memory unit

30: Ultrasonic transmitting/receiving module 31: Sensor driving circuit

32, 321, 322, 323, 324: Ultrasonic sensors

320: Scan blind area 33: Multiplexer

40: Signal amplification module 50: Warning module

511: Display unit 512: Display drive circuit

521: Sound drive circuit 522 buzzer

Detailed ways

In order to further explain the technical means and effects that the present invention takes to achieve the intended invention purpose, below in conjunction with the accompanying drawings and preferred embodiments, the reversing radar device and its method for automatically revising the scanning range of the sensor proposed according to the present invention Specific embodiments, structures, methods, steps, features and effects thereof are described in detail below.

Regarding a preferred embodiment of the present invention, please refer to Fig. 1 and shown in Fig. 2, the reversing radar of the present invention comprises a central processing unit 10, a memory unit 20, an ultrasonic transmitting/receiving module 30, a signal amplifying Module 40 and a warning module 50 .

The central processing unit 10 is the processing center of the present invention. In this embodiment, a microprocessor (as shown in FIG. 2 ) whose model is ATMega8 is used, which contains a memory of 1 kb. The memory unit 20 is connected to the aforementioned central processing unit 10 for accessing digital data. In this embodiment, the memory unit 20 is the built-in memory of the ATMega8 microprocessor.

The ultrasonic transmitting/receiving module 30 is used to transmit and receive ultrasonic waves, as shown in Fig. 2, in this embodiment it includes four sensor drive circuits 31, four ultrasonic sensors 321 , 322, 323, 324, and a multiplexer 33, wherein:

These sensor driving circuits 31 mainly include a transistor Q1-Q4 and a transformer T1-T4, wherein the bases of the transistors Q1-Q4 are respectively connected to the 13th, 14th, 16th and 15th of the ATMega8 microprocessor. The pins are amplified by transistors Q1-Q4 and transformers T1-T4 after the central processing unit 10 sends pulse signals;

These ultrasonic sensors 321, 322, 323, 324 are respectively connected to the aforementioned central processing unit 10 through a sensor driving circuit 31, except that the pulses amplified by transistors Q1-Q4 and transformers T1-T4 The wave signal controls and drives the ultrasonic sensors 321, 322, 323, 324. In addition to emitting ultrasonic waves, they can also receive ultrasonic waves reflected by obstacles to generate a reflected signal;

The multiplexer 33 is connected to pins 9 and 10 of the ATMega8 microprocessor and the sensor driving circuit 31 .

This signal amplifying module 40 is the multiplexer 33 that connects the 24th pin of the aforementioned ATMega8 microprocessor and the ultrasonic transmitting/receiving module 30, by the switching selection of the aforementioned multiplexer 33, the ultrasonic sensor 321, 322, 323, 324, the received reflected signal is sent to the signal amplification module 40 for amplification, and then sent to the central processing unit 10 for processing. In this embodiment, please refer to the second figure, the signal The amplifier module 40 is mainly composed of three OP amplifiers U1C, U1D and U1A. The amplifier U1C amplifies the reflected signals received by the ultrasonic sensors 321, 322, 323, and 324 and sends them to the amplifier U1D and the resistors. After the noise is filtered by the bandpass filter formed by R5 and the capacitor C8, the reflected signal is amplified again by the amplifier U1A, rectified by the diode D3 and sent to the central processing unit 10.

The warning module 50 is connected to the aforementioned central processing unit 10 to remind the driver of obstacle information. Please refer to the first and second figures. In this embodiment, the warning module 50 includes a display unit 511 and A sound warning unit, wherein the display unit 511 is connected to the 30th and 31 pins of the ATMega8 microprocessor through a display drive circuit 512, and the sound warning unit is a buzzer 522, which passes through the sound drive circuit 521 Connect pins 1 and 12 of the ATMega8 microprocessor.

In addition, the method for automatically revising the scanning range of the reversing radar sensor in the present invention is applied in the aforementioned central processing unit 10, mainly based on the fact that the ultrasonic energy reflected by the ultrasonic wave by the obstacle will be proportional to the size of the obstacle , the larger the obstacle, the greater the reflected ultrasonic energy, so please refer to the third figure, which includes the following steps:

First preset four compensation values and a critical distance 100, wherein each compensation value corresponds to an ultrasonic sensor 321, 322, 323, 324 respectively, and a preferred embodiment of the critical distance is 60 cm;

When the reversing radar device is activated, each ultrasonic sensor 321, 322, 323, 324 immediately emits ultrasonic waves for obstacle sensing 101;

Each ultrasonic sensor 321, 322, 323, 324 receives the ultrasonic wave reflected by the obstacle, so as to obtain a plurality of initial sensing results 102 corresponding to the ultrasonic sensor 321, 322, 323, 324;

The central processing unit 10 converts each initial sensing result into an initial sensing value and stores it in the memory unit 20 103;

Each ultrasonic sensor 321, 322, 323, 324 continues to emit ultrasonic waves for obstacle sensing, and receives ultrasonic waves reflected by obstacles to obtain a plurality of corresponding ultrasonic sensors 321, 322, 323, 324, the subsequent sensing result 104;

Each subsequent sensing result is converted into a subsequent sensing value by the central processing unit 10 and stored in the memory unit 20 105;

Judging whether the ultrasonic sensors 321, 322, 323, 324 and the corresponding subsequent sensing values are greater than the "initial sensing value + compensation value" 106;

If not, it is determined that the obstacle 107 is not sensed;

If so, then determine that an obstacle 108 is sensed;

When judging that an obstacle is sensed, according to the transmission speed of the sound wave (340 meters per second) and the ultrasonic sensor 321,322,323,324, the time interval between sending and receiving the ultrasonic wave is calculated to calculate the obstacle Actual distance 109 from ultrasonic sensors 321, 322, 323, 324;

Judging whether the actual distance between the obstacle and the ultrasonic sensors located on both sides of the rear of the vehicle is greater than the critical distance 110;

If not, the central processing unit 10 drives the warning module 50 to issue a warning 111 to the driver;

If so, by increasing the compensation value 112, the "initial sensing value + compensation value" becomes larger, so a larger subsequent sensing value is required to be greater than the "initial sensing value + compensation value", that is, the volume of the obstacle It must be larger or closer to the vehicle body, so the sensitivity of the ultrasonic sensors 321, 322, 323, 324 can be reduced.

About the working principle of the reversing radar device of the present invention, it is as follows:

Before the vehicle reverses, there should be a relatively long distance between it and the obstacle, so the ultrasonic wave that can be reflected by the obstacle is less, that is, the initial sensing value will be smaller;

When starting to reverse, because the distance between the obstacle and the obstacle may be getting closer and closer, the relative size of the obstacle to the rear of the car is also getting bigger and bigger, so the area that can reflect ultrasonic waves is also getting bigger and bigger, so the follow-up The sensing value may be greater than the initial state value recorded before reversing, and by defining that the subsequent sensing value must be greater than the initial state value plus a compensation value, it is determined that there is an obstacle in order to avoid errors;

When the actual distance between the obstacle and the ultrasonic sensors on both sides is greater than 60 cm, it means that the obstacle may be located on the outer sides of the rear of the vehicle. At this time, by increasing the compensation value, the reversing radar device can be reduced Sensitivity to avoid false action.

However, although the present invention has been disclosed in the foregoing embodiments, it is not limited to the content mentioned in the foregoing embodiments. Any changes and modifications made within the spirit and scope of the present invention belong to the protection of the present invention. scope.

As can be seen from the above, the reversing radar device of the present invention first records the surrounding state when reversing, and then compares it with the surrounding state sensed when reversing to determine whether there is an obstacle; When there is an obstacle, the scanning range of the ultrasonic sensors located on both sides of the rear of the vehicle will be automatically revised to reduce its sensitivity, so as to prevent the reversing radar device from sensing obstacles located on the outer sides of the rear of the vehicle. And produce misoperation to mislead the driver.

The above description is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. Anyone familiar with this field Those skilled in the art, without departing from the scope of the technical solution of the present invention, may use the method and technical content disclosed above to make some changes or modifications to equivalent embodiments with equivalent changes, but if they do not depart from the technical solution of the present invention, Any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention still fall within the scope of the technical solutions of the present invention.

Claims (7)

1. A method for automatically revising the scan range of a parking radar sensor is applied in a central processing unit of a parking radar device, and is characterized in that it comprises the following steps: preset a plurality of compensation values corresponding to the ultrasonic sensors and a critical distance; When the reversing radar device is activated, a plurality of ultrasonic sensors immediately emit ultrasonic waves for obstacle sensing, and obtain initial sensing results of a plurality of corresponding ultrasonic sensors; storing each initial sensing result as an initial sensing value; The ultrasonic sensor continues to perform obstacle sensing, and obtains a plurality of subsequent sensing results corresponding to the ultrasonic sensor; storing each subsequent sensing result as a subsequent sensing value; When the subsequent sensing value corresponding to any ultrasonic sensor is greater than the "initial sensing value + compensation value", it is determined that an obstacle is sensed, and the actual distance between the obstacle and the ultrasonic sensor is calculated ; If the actual distance between the obstacle and the ultrasonic sensors located on both sides of the rear of the vehicle is greater than the critical distance, the compensation value is increased to reduce the sensitivity of the ultrasonic sensors located on both sides of the rear of the vehicle. 2. The method for automatically revising the scanning range of the parking radar sensor according to claim 1, wherein said central processing unit can be a microprocessor model ATMega8. 3. A reversing radar device for automatically revising the scanning range of the sensor, characterized in that the device mainly comprises: a central processing unit; A memory unit is connected to the aforementioned central processing unit; An ultrasonic transmitting/receiving module for transmitting and receiving ultrasonic waves, which includes a plurality of sensor drive circuits and a plurality of ultrasonic sensors, wherein each ultrasonic sensor is driven through the sensor respectively The circuit is connected to the aforementioned central processing unit, and the central processing unit controls and drives the ultrasonic sensor to emit ultrasonic waves; A signal amplification module is connected between the aforementioned central processing unit and the ultrasonic transmitting/receiving module to amplify the signal received by the ultrasonic sensor and then send it to the central processing unit; A warning module is connected to the aforementioned central processing unit and is used to remind the driver of obstacle information. 4. The reversing radar device for automatically revising the scanning range of the sensor according to claim 3, wherein said ultrasonic transmitting/receiving module further comprises a multiplexer connected to the central processing unit, sensing The device driving circuit and the signal amplifying module, through the switching of the multiplexer, select the signal amplified by the signal amplifying module. 5. The reversing radar device for automatically revising the scanning range of the sensor according to claim 3, wherein the warning module includes a display unit and an audio warning unit, wherein: The display unit is connected to the aforementioned central processing unit through a display driving circuit; The sound warning unit is a buzzer, which is connected to the central processing unit through a sound driving circuit. 6. The reversing radar device for automatically revising the scanning range of the sensor according to any one of claims 3 to 5, wherein the memory unit is built in the central processing unit. 7. The reversing radar device for automatically revising the scanning range of the sensor according to claim 6, wherein said central processing unit is a microprocessor model ATMega8.

Images