CN108831189A - A kind of intelligent early-warning method based on millimetre-wave radar anticollision - Google Patents
A kind of intelligent early-warning method based on millimetre-wave radar anticollision Download PDFInfo
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- CN108831189A CN108831189A CN201810578492.0A CN201810578492A CN108831189A CN 108831189 A CN108831189 A CN 108831189A CN 201810578492 A CN201810578492 A CN 201810578492A CN 108831189 A CN108831189 A CN 108831189A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B7/00—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00
- G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
- G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
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- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a kind of intelligent early-warning method based on millimetre-wave radar anticollision, specific detection method can be divided into three steps：The acquisition of data-signal, the processing of data-signal, alarm.The present invention solves laser radar, and performance is poor in inclement weather, be unable to all weather operations, higher cost and infrared sensor measurement apart from it is close the disadvantages of, the high-performance of millimetre-wave radar, durability, the advantages that cost is relatively low can be improved the safety of driving, be conducive to the realization of safe driving.
Description
Technical field：
The present invention relates to Vehicular intelligent method for early warning technical fields, and it is pre- to relate generally to a kind of intelligence based on millimetre-wave radar anticollision
Alarm method.
Background technique：
It is well known that today's society, traffic safety problem has become one of an important factor for influencing China's public security perception,
Road fatalities account for always larger proportion in all kinds of safety accident total tolls, it means that develop one
The intelligent safety system of money active（Advanced driving assistance system, i.e. ADAS system）It is highly important.
Chinese patent application publication number CN104808216A proposes a kind of vehicle collision avoidance based on laser radar range
Early warning system, main purpose are the intelligent anticollision active forewarnings that precisely distance is obtained using Laser Measuring, and family acquisition can be used
Good experience effect.Chinese patent application publication number CN103264716A proposes a kind of safe and reliable, easy to operate red
Encoding and decoding collision avoidance system is taken in outside line, and main purpose is the collision avoidance system integrated out using infrared ray, reduces collision accident.
Chinese patent application publication number CN102837658A proposes multilasered optical radar data fusion system and side in a kind of intelligent vehicle
Method, main purpose are to utilize the letter being mounted on around the UTM-30LX laser radar acquisition on intelligent vehicle vehicle body all around
The host computer that breath is sent to responsible data fusion obtains the obstacle information of surrounding.This three parts of patents be related to laser radar and
Both sensors of infrared ray are unable to whole day wherein laser radar sensor performance under the mal-conditions such as sleet mist is poor
Work is waited, and on the high side.And infrared sensor measurement accuracy is higher, cost is relatively low, but measures distance closely, greatly limits
Its application scenarios.The invention proposes a kind of methods of anticollision early warning, it can remind driver before danger occurs
Corresponding measure is taken in time, then guarantees safety traffic.
Summary of the invention：
The object of the invention is to remedy the disadvantages of known techniques, provides a kind of intelligent early-warning based on millimetre-wave radar anticollision
Method.
The present invention is achieved by the following technical solutions：
Present invention employs a kind of intelligent early-warning method based on millimetre-wave radar anticollision, specific detection method can be divided into three
Step：The acquisition of data-signal, the processing of data-signal, alarm.
A kind of intelligent early-warning method based on millimetre-wave radar anticollision, it is characterised in that：It include following steps：
1）The acquisition of data-signal：It is obtained reliably using millimetre-wave radar there are the location information of target, location information includes it
With the relative distance, relative velocity and relative angle of this vehicle；When vehicle is during moving forward, vehicle-mounted millimeter wave thunder
Signal is launched outward out up to antenna is first passed through, receives the reflection signal of target, one frame data of every 50 milliseconds of receptions, this frame data
The location information of all targets in investigative range is contained, if three frame data continuously received are not from the same mesh
Mark then can be determined that the target is that unreliable existing target is directly ignored without carrying out data processing；If continuous receive
To three frame data be from the ID number of the same target, then can be determined that the target is reliable existing target；It is right at this time
The intermediate-freuqncy signal that the reflection signal of the target is mixed out with tranmitting frequency is handled, to obtain reliably, there are the speed of target
And with this vehicle information separated by a distance, meanwhile, the echo-signal received is handled using phase comparing method, thus obtain can
By there are the angle informations between target and the line and normal of this vehicle mounted antenna center line；Next by acquisition reliable, there are mesh
Target relative distance, relative velocity, relative angle information are conveyed to data processing module.
2）The processing of data-signal：Using reliably there is target and this vehicle relative distance, relative velocity, relative angle
Information obtains certain types of target information, judges the dangerous situation for whether will be collided.
Data processing module is an important component based on millimetre-wave radar intelligent collision early warning system, is used
Using DSP as the signal processing system of core, which is detected by receiving from front millimeter wave radar module
To and the data that convey after, the operation of related algorithm is carried out for these data, obtains certain types of target information, such as
Fruit processing the result shows that when the spacing between Ben Che and reliable existing target vehicle is less than safe distance, immediately by its information
It is conveyed to alarm；
Detailed process is as follows：Data processing module receives the data from millimetre-wave radar for the first time、、、,
Receiving the data from millimetre-wave radar after one second for the second time is、、、, i-th receives from millimeter wave thunder
The data reached are、、、.If the relative distance that the previous second measuresWhen, then the partial information is without being conveyed to
Alarm；If the relative distance that the previous second measuresWhen, it is divided into two kinds of situations：（1）WhenWhen, then the part is believed
Breath is without being conveyed to alarm；（2）At that time, then explanation had potential risk of collision, and partial information needs are conveyed to alarm
Device.If the relative distance that the previous second measuresWhen, then explanation has potential risk of collision, which needs defeated
Give alarm.
3 ）Alarm：It is given a warning using certain types of target information is obtained by LED light, loudspeaker, it is pre- to reach intelligence
Alert purpose.
A kind of intelligent early-warning method based on millimetre-wave radar anticollision, it is characterised in that：Using LED light and loudspeaker
It is given a warning in a manner of sound, light, after receiving from the information that data processing module conveying comes, LED light is flashed while being raised
Sound device issues alarm, informs driver, and driver is reminded to take measures on customs clearance, and driver passes through deceleration, braking or lane change
Etc. modes, avoid collision the generation of accident.
Advantages of the present invention is：
The present invention solves laser radar, and performance is poor in inclement weather, is unable to all weather operations, higher cost and infrared biography
Sensor measurement apart from it is close the disadvantages of, the high-performance of millimetre-wave radar, durability, the advantages that cost is relatively low can be improved the peace of driving
Quan Xing is conducive to the realization of safe driving.
Detailed description of the invention：
Fig. 1 is the working principle of the invention figure.
Fig. 2 is workflow schematic diagram of the invention.
Specific embodiment：
It referring to Fig.1, is a kind of working principle diagram of intelligent early-warning method based on millimetre-wave radar anticollision of the invention, it is specific to make
As described below：
Assuming that the speed of this vehicle and the target vehicle detected is respectively、, it is specified that security standpoint is, when what is detected
Angle（The angle is the angle between line and normal between the target vehicle that Ben Che and millimetre-wave radar detect）It is greater thanWhen, then be judged to not constituting a threat to without considering target, when the angle detectedIt is less thanWhen, then it is judged to having constituted
Target in need of consideration is threatened, the detection of distance is and then carried out.The safe distance of regulation normal vehicle operation is, when two vehicles
The distance betweenIt is less thanWhen, illustrate there is the danger that will be collided, sounds an alarm and this vehicle is reminded to carry out deceleration processing, be decelerated to
The relative distance of two vehicles is greater than safe distance。
It is that a kind of workflow of intelligent early-warning method based on millimetre-wave radar anticollision of the invention is illustrated referring to Fig. 2
Figure, the intelligent early-warning method of the vehicle include the following steps：
S1：It is obtained reliably using millimetre-wave radar there are the location information of target, including the relative distance of itself and this vehicle, relatively fast
Degree, relative angle.
In the embodiment of the present invention, using a ESR millimetre-wave radar that Delphi company releases, it has integrated level
The advantages such as high, channel is more, performance is good, technological development degree height.When vehicle is during moving forward, vehicle-mounted millimeter wave thunder
Signal is launched outward out up to antenna is first passed through, receives the reflection signal of target, one frame data of every 50 milliseconds of receptions, this frame data
The location information of all targets in investigative range is contained, if three frame data continuously received are not from the same mesh
Mark then can be determined that the target is that unreliable existing target is directly ignored without carrying out data processing；If continuous receive
To three frame data be from the ID number of the same target, then can be determined that the target is reliable existing target：It is right at this time
The intermediate-freuqncy signal that the reflection signal of the target is mixed out with tranmitting frequency is handled, to obtain reliably, there are the speed of target
And with this vehicle information separated by a distance, meanwhile, the echo-signal received is handled using phase comparing method, thus obtain can
By there are the angle informations between target and the line and normal of this vehicle mounted antenna center line.Next by acquisition reliable, there are mesh
Target relative distance, relative velocity, relative angle information are conveyed to data processing module.
S2：It is specific to obtain using the relative distance, relative velocity, the information of relative angle that reliably there is target and this vehicle
The target information of type judges the dangerous situation for whether will be collided.
Data processing module is an important component based on millimetre-wave radar intelligent collision early warning system, the present invention
In embodiment, the signal processing system using DSP as core is used, it is visited by receiving from front millimeter wave radar module
It measures and after the data that convey, the operation of related algorithm is carried out for these data, obtains certain types of target information,
If handling the result shows that being believed immediately when the spacing between Ben Che and reliable existing target vehicle is less than safe distance
Breath is conveyed to alarm.Detailed process is as follows：
Data processing module receives the data from millimetre-wave radar for the first time、、、, second after one second
Receiving the data from millimetre-wave radar is、、、, i-th receives the data from millimetre-wave radar and is、、、.If the relative distance that the previous second measuresWhen, then the partial information is without being conveyed to alarm；If previous
The relative distance that second measuresWhen, it is divided into two kinds of situations：（1）WhenWhen, then the partial information is without being conveyed to
Alarm；（2）At that time, then explanation had potential risk of collision, which needs to be conveyed to alarm.If the previous second surveys
The relative distance obtainedWhen, then explanation has potential risk of collision, which needs to be conveyed to alarm.
S3：It is given a warning using certain types of target information is obtained by LED light, loudspeaker.
In the embodiment of the present invention, use LED light, loudspeaker is given a warning in a manner of sound, light, when receive from number
After the information come according to processing module conveying, loudspeaker issues alarm simultaneously for LED light flashing, informs driver, reminds driver
It takes measures on customs clearance, driver is by modes such as deceleration, braking or lane changes, to avoid collision the generation of accident.
Claims (3)
1. a kind of intelligent early-warning method based on millimetre-wave radar anticollision, it is characterised in that：It include following steps：
1）The acquisition of data-signal：It is obtained reliably using millimetre-wave radar there are the location information of target, location information includes it
With the relative distance, relative velocity and relative angle of this vehicle；
When vehicle is during moving forward, vehicle-mounted millimetre-wave radar first passes through antenna and launches outward out signal, receives mesh
Target reflects signal, one frame data of every 50 milliseconds of receptions, this frame data contains the position letter of all targets in investigative range
Breath can be determined that the target is unreliable presence if three frame data continuously received are not from the same target
Target directly ignore without carrying out data processing；If three frame data continuously received are from the same target
ID number then can be determined that the target is reliable existing target；The reflection signal of the target is mixed out with tranmitting frequency at this time
Intermediate-freuqncy signal handled, thus obtain reliably there are the speed of target and with this vehicle information separated by a distance, meanwhile, it is right
The echo-signal received is handled using phase comparing method, to obtain reliably, there are the lines of target and this vehicle mounted antenna center line
Angle information between normal；Next by acquisition reliable, there are the relative distance of target, relative velocity, relative angles to believe
Breath is conveyed to data processing module；
2）The processing of data-signal：Utilize the information of the relative distance, relative velocity, relative angle that reliably there is target and this vehicle
Certain types of target information is obtained, the dangerous situation for whether will be collided judged；
Data processing module is an important component based on millimetre-wave radar intelligent collision early warning system, use with
DSP is the signal processing system of core, which is detected by receiving from front millimeter wave radar module
And after conveying the data to come, the operation of related algorithm is carried out for these data, obtains certain types of target information, if
Processing the result shows that when the spacing between Ben Che and reliable existing target vehicle is less than safe distance, it is immediately that its information is defeated
Give alarm；Detailed process is as follows：
Data processing module receives the data from millimetre-wave radar for the first time、、、, second after one second
Receiving the data from millimetre-wave radar is、、、, i-th receives the data from millimetre-wave radar and is、、、；If the relative distance that the previous second measuresWhen, then the partial information is without being conveyed to alarm；If preceding
The one second relative distance measuredWhen, it is divided into two kinds of situations：（1）WhenWhen, then the partial information is without conveying
To alarm；（2）As V1 > V2, then explanation has potential risk of collision, which needs to be conveyed to alarm；If
The relative distance that the previous second measuresWhen, then explanation has potential risk of collision, and partial information needs are conveyed to report
Alert device；
3）Alarm：It is given a warning using certain types of target information is obtained by LED light, loudspeaker, reaches intelligent early-warning
Purpose.
2. a kind of intelligent early-warning method based on millimetre-wave radar anticollision according to claim 1, it is characterised in that：Assuming that
The speed of this vehicle and the target vehicle detected is respectively、, it is specified that security standpoint isIf angleFor Ben Che and millimeter
The angle between the line and normal between target vehicle that wave radar detection is arrived, when the angle detectedIt is greater thanWhen, then
Be judged to not constituting a threat to without considering target, when the angle detectedIt is less thanWhen, then being judged to having constituted a threat to needs
And then the target to be considered carries out the detection of distance；The safe distance of regulation normal vehicle operation is, when between two vehicles
DistanceIt is less thanWhen, illustrate there is the danger that will be collided, sounds an alarm and this vehicle is reminded to carry out deceleration processing, be decelerated to two vehicles
Relative distance is greater than safe distance。
3. a kind of intelligent early-warning method based on millimetre-wave radar anticollision according to claim 1, it is characterised in that：Using
LED light and loudspeaker are given a warning in a manner of sound, light, when receiving the information come from data processing module conveying
Afterwards, loudspeaker issues alarm simultaneously for LED light flashing, informs driver, reminds driver to take measures on customs clearance, driver passes through
The modes such as deceleration, braking or lane change, avoid collision the generation of accident.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810578492.0A CN108831189A (en) | 2018-06-07 | 2018-06-07 | A kind of intelligent early-warning method based on millimetre-wave radar anticollision |
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| CN201810578492.0A CN108831189A (en) | 2018-06-07 | 2018-06-07 | A kind of intelligent early-warning method based on millimetre-wave radar anticollision |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109870675A (en) * | 2019-02-22 | 2019-06-11 | 惠州市德赛西威汽车电子股份有限公司 | A kind of automobile-used millimetre-wave radar detectivity degradation detection system and method |
| CN109991976A (en) * | 2019-03-01 | 2019-07-09 | 江苏理工学院 | A method of the unmanned vehicle based on standard particle group's algorithm evades dynamic vehicle |
| CN110834627A (en) * | 2019-11-26 | 2020-02-25 | 北京海纳川汽车部件股份有限公司 | Vehicle collision early warning control method and system based on millimeter wave radar and vehicle |
| CN111856467A (en) * | 2020-08-19 | 2020-10-30 | 上海初斟智能科技有限公司 | Knapsack and safety auxiliary device based on millimeter wave radar thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109870675A (en) * | 2019-02-22 | 2019-06-11 | 惠州市德赛西威汽车电子股份有限公司 | A kind of automobile-used millimetre-wave radar detectivity degradation detection system and method |
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Application publication date: 20181116 |