CN102508248A - Distance measurement method of reversing radar - Google Patents
Distance measurement method of reversing radar Download PDFInfo
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- CN102508248A CN102508248A CN2011103117085A CN201110311708A CN102508248A CN 102508248 A CN102508248 A CN 102508248A CN 2011103117085 A CN2011103117085 A CN 2011103117085A CN 201110311708 A CN201110311708 A CN 201110311708A CN 102508248 A CN102508248 A CN 102508248A
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Abstract
The invention provides a distance measurement method of a reversing radar. The method comprises the following steps of: (A) initializing a system; (B) transmitting and receiving ultrasonic waves by a first ultrasonic wave sensor and getting the distance between a vehicle and an obstacle; (C) transmitting and receiving the ultrasonic waves by a second ultrasonic wave sensor and getting the distance between the vehicle and the obstacle; (D) transmitting the ultrasonic waves by the first ultrasonic wave sensor, receiving the ultrasonic waves by the second ultrasonic wave sensor and getting the distance between the vehicle and the obstacle; and (E) finding out a minimum distance value and prompting a user to notice the minimum distance value as the actual distance between the obstacle and the vehicle. The method disclosed by the invention has the benefits that, as the ultrasonic waves are transmitted by the first ultrasonic wave sensor, the ultrasonic waves are received by the second ultrasonic wave sensor and the distance between the vehicle and the obstacle is further obtained, the flat plate type or other irregular obstacles can be detected; and furthermore, the minimum distance value is found out, and the user is promoted to notice the minimum distance value as the actual distance between the obstacle and the vehicle, so that the distance to the obstacle can be detected more accurately.
Description
Technical field
The present invention relates to the method for measuring distance, relate in particular to the method for reverse sensor range.
Background technology
The definition of ultrasonic ranging radar: reverse radar system; The main ultrasonic measuring distance technology that adopts; Utilize the piezoelectric property of piezoelectric ceramic piece (ultrasonic sensor); With the pulse excitation piezoelectric patches of CF (40KHz-60KHz), this piezoelectric patches converts mechanical energy to by electric energy immediately and launches.When the sound wave of launching contacts barrier; According to the reflectivity principle of sound wave, can give sensor by the faint acoustic wave energy of reflected back, the faint acoustic vibration signal that is about to received transforms into electric signal; After the signal processing and amplifying; Be sent to microprocessor and handle, go out the distance between car and the barrier, and the user is reminded through display and microphone device by specific algorithm computation.
Visible by above description, the ultrasonic backward radar has mainly utilized according to hyperacoustic reflectivity principle.Under the general situation, hyperacoustic reflexive property is that reflection angle equals incident angle, and therefore, whether reflection wave can be captured the key that has just become ultrasonic ranging by ultrasonic sensor.Can reach through the effort of two aspects:
1. increase the transmission envelop scope of ultrasonic sensor; The transmission envelop scope is big more; Mean that the barrier probability of in list probe transmitted wave envelope, running into is high more, find that according to research and practice its detection envelope of the ultrasonic sensor of 48K (58K) transceiver is big than 40K.
2. the processing mode of traditional reverse sensor range is ultrasonic sensor A internal loopback 2 to 3 times; Ultrasonic sensor B internal loopback 2 to 3 times; Compare both valid data again, the range data that numerical value is little is the distance of effective barrier.
If there are flat-type or other irregular barrier in the centre of two ultrasonic sensor sensors, then the ultrasonic sensor internal loopback just possibly surveyed less than barrier.Received by ultrasonic sensor surely because reflection wave differs, then system will judge do not have barrier and cause the erroneous judgement.
Summary of the invention
In order to solve the problems of the prior art, the invention provides a kind of method of reverse sensor range.
The invention provides a kind of method of reverse sensor range, comprise the steps:
A. system initialization;
B. first ultrasonic sensor carries out the internal loopback ultrasound wave, and draws the distance of car and barrier;
C. second ultrasonic sensor carries out the internal loopback ultrasound wave, and draws the distance of car and barrier;
D. first ultrasonic sensor sends ultrasound wave, second ultrasonic sensor receives ultrasound wave, and draws the distance of car and barrier;
E. find out lowest distance value, and point out the user as the actual range of barrier and car with lowest distance value.
As further improvement of the present invention, in said steps A, comprise the steps:
A1. initialization IO port, the initialization serial ports;
A2. clear house dog.
As further improvement of the present invention, said step B comprises the steps:
B1. wait for the 25MS time;
B2. carry out the first ultrasonic sensor internal loopback subroutine;
B3. judged whether the barrier echo,, waited for 27MS so, and carried out the first ultrasonic sensor internal loopback subroutine, if do not have the barrier echo then carry out the B4 step if the barrier echo is arranged;
B4. wait for 23MS.
As further improvement of the present invention, said step C comprises the steps:
C1. carry out the second ultrasonic sensor internal loopback subroutine;
C2. judged whether the barrier echo,, waited for 27MS so, and carried out the second ultrasonic sensor internal loopback subroutine, if do not have the barrier echo then carry out the C3 step if the barrier echo is arranged;
C3. wait for 23MS.
As further improvement of the present invention, said step D comprises the steps:
D1. carry out first ultrasonic sensor and send ultrasound wave, second ultrasonic sensor reception ultrasound wave subroutine;
D2. judged whether the barrier echo,, waited for 27MS so, and carried out first ultrasonic sensor and send ultrasound wave, second ultrasonic sensor and receive the ultrasound wave subroutine, if do not have the barrier echo then carry out the E step if the barrier echo is arranged.
As further improvement of the present invention, the said first ultrasonic sensor internal loopback subroutine comprises following steps:
The first step: wake first ultrasonic sensor up;
Second step: calculate first ultrasonic sensor and send ultrasound wave to receiving the used time of ultrasound wave;
The 3rd step: draw the distance between car and the barrier according to the used time.
As further improvement of the present invention, the said second ultrasonic sensor internal loopback subroutine comprises following steps:
The first step: wake second ultrasonic sensor up;
Second step: calculate second ultrasonic sensor and send ultrasound wave to receiving the used time of ultrasound wave;
The 3rd step: draw the distance between car and the barrier according to the used time.
As further improvement of the present invention, said first ultrasonic sensor sends ultrasound wave, second ultrasonic sensor receives the ultrasound wave subroutine and comprises following steps:
The first step: wake first ultrasonic sensor and second ultrasonic sensor respectively up;
Second step: calculate first ultrasonic sensor transmission ultrasound wave to the second ultrasonic sensor and receive the used time of ultrasound wave;
The 3rd step: draw the distance between car and the barrier according to the used time.
The invention has the beneficial effects as follows: because first ultrasonic sensor sends ultrasound wave, second ultrasonic sensor receives ultrasound wave; And draw the distance of car and barrier; So can detect flat-type or other irregular barrier; And find out lowest distance value, and point out the user as the actual range of barrier and car, make that the distance of detecting obstacles thing is more accurate with lowest distance value.
Description of drawings
Fig. 1 is a process flow diagram of the present invention.
Fig. 2 is the process flow diagram of one embodiment of the invention.
Embodiment
As shown in Figure 1, the invention discloses a kind of method of reverse sensor range, comprise the steps: in step S1 system initialization.In step S2, first ultrasonic sensor carries out the internal loopback ultrasound wave, and draws the distance of car and barrier.In step S3, second ultrasonic sensor carries out the internal loopback ultrasound wave, and draws the distance of car and barrier.In step S4, first ultrasonic sensor sends ultrasound wave, second ultrasonic sensor receives ultrasound wave, and draws the distance of car and barrier.In step S5, find out lowest distance value, and point out the user as the actual range of barrier and car with lowest distance value.
As shown in Figure 2, in step S1, comprise the steps: in step W1 initialization IO port, initialization serial ports; In step W2, clear house dog.In step S2, comprise the steps: in step W3, wait for the 25MS time; In step W4, carry out the first ultrasonic sensor internal loopback subroutine; In step W5, judged whether the barrier echo, if the barrier echo is arranged, wait for 27MS so, and carry out the first ultrasonic sensor internal loopback subroutine, if do not have the barrier echo then carry out the W6 step; In step W6, wait for 23MS.In step S3, comprise the steps: in step W7, carry out the second ultrasonic sensor internal loopback subroutine; In step W8, judged whether the barrier echo, if the barrier echo is arranged, wait for 27MS so, and carry out the second ultrasonic sensor internal loopback subroutine, if do not have the barrier echo then carry out the W9 step; In step W9, wait for 23MS.In step S4, comprise the steps: in step W10, carry out first ultrasonic sensor and send ultrasound wave, second ultrasonic sensor reception ultrasound wave subroutine; In step W11; Judged whether the barrier echo,, waited for 27MS so if the barrier echo is arranged; And carry out first ultrasonic sensor and send ultrasound wave, second ultrasonic sensor and receive the ultrasound wave subroutine, if do not have the barrier echo then carry out the W12 step; In step W12, find out lowest distance value, and point out the user as the actual range of barrier and car with lowest distance value.
The said first ultrasonic sensor internal loopback subroutine comprises following steps: the first step: wake first ultrasonic sensor up; Second step: calculate first ultrasonic sensor and send ultrasound wave to receiving the used time of ultrasound wave; The 3rd step: draw the distance between car and the barrier according to the used time.
The said second ultrasonic sensor internal loopback subroutine comprises following steps: the first step: wake second ultrasonic sensor up; Second step: calculate second ultrasonic sensor and send ultrasound wave to receiving the used time of ultrasound wave; The 3rd step: draw the distance between car and the barrier according to the used time.
Said first ultrasonic sensor sends ultrasound wave, second ultrasonic sensor receives the ultrasound wave subroutine and comprises following steps: the first step: wake first ultrasonic sensor and second ultrasonic sensor respectively up; Second step: calculate first ultrasonic sensor transmission ultrasound wave to the second ultrasonic sensor and receive the used time of ultrasound wave; The 3rd step: draw the distance between car and the barrier according to the used time.
Hyperacoustic transmitting-receiving time is roughly 6MS=1 rice, and general ultrasonic ranging will wait enough 4 meters time (24MS), and getting 25MS among the present invention is reference time, is the second trip echo influence for fear of remote big barrier.23MS among the present invention, 25MS, staggering of 27MS time is the interference for fear of same frequency, promptly the same frequency of other ultrasonic equipment transmission disturbs.
Because first ultrasonic sensor sends ultrasound wave, second ultrasonic sensor receives ultrasound wave; And draw the distance of car and barrier; So can detect flat-type or other irregular barrier; And find out lowest distance value, and point out the user as the actual range of barrier and car, make that the distance of detecting obstacles thing is more accurate with lowest distance value.
Through test; The method of reverse sensor range of the present invention has disappeared the detection blind area of winning between the ultrasonic sensor and second ultrasonic sensor basically; Promptly can cover the search coverage of two ultrasonic sensor rear 1.5M fully; Improved the validity of surveying greatly, promoted the performance of reverse radar system, the detection blind area of closely (< 0.3M) that effectively reduces simultaneously.
In sum, the present invention has following advantage:
1. the detection envelope to the flat-type barrier obviously improves, and the detection envelope of pvc pipe is also had bigger improvement.
2. the blind area also has clear improvement for reducing closely.
3. do not need design hardware again, only need to revise software and just can realize that cost of products remains unchanged basically, the production technology and the method for inspection also remain unchanged.
Above content is to combine concrete preferred implementation to the further explain that the present invention did, and can not assert that practical implementation of the present invention is confined to these explanations.For the those of ordinary skill of technical field under the present invention, under the prerequisite that does not break away from the present invention's design, can also make some simple deduction or replace, all should be regarded as belonging to protection scope of the present invention.
Claims (8)
1. the method for a reverse sensor range is characterized in that, comprises the steps:
A. system initialization;
B. first ultrasonic sensor carries out the internal loopback ultrasound wave, and draws the distance of car and barrier;
C. second ultrasonic sensor carries out the internal loopback ultrasound wave, and draws the distance of car and barrier;
D. first ultrasonic sensor sends ultrasound wave, second ultrasonic sensor receives ultrasound wave, and draws the distance of car and barrier;
E. find out lowest distance value, and point out the user as the actual range of barrier and car with lowest distance value.
2. method according to claim 1 is characterized in that, in said steps A, comprises the steps:
A1. initialization IO port, the initialization serial ports;
A2. clear house dog.
3.3. method according to claim 2 is characterized in that, said step B comprises the steps:
B1. wait for the 25MS time;
B2. carry out the first ultrasonic sensor internal loopback subroutine;
B3. judged whether the barrier echo,, waited for 27MS so, and carried out the first ultrasonic sensor internal loopback subroutine, if do not have the barrier echo then carry out the B4 step if the barrier echo is arranged;
B4. wait for 23MS.
4. method according to claim 3 is characterized in that said step C comprises the steps:
C1. carry out the second ultrasonic sensor internal loopback subroutine;
C2. judged whether the barrier echo,, waited for 27MS so, and carried out the second ultrasonic sensor internal loopback subroutine, if do not have the barrier echo then carry out the C3 step if the barrier echo is arranged;
C3. wait for 23MS.
5. method according to claim 4 is characterized in that said step D comprises the steps:
D1. carry out first ultrasonic sensor and send ultrasound wave, second ultrasonic sensor reception ultrasound wave subroutine;
D2. judged whether the barrier echo,, waited for 27MS so, and carried out first ultrasonic sensor and send ultrasound wave, second ultrasonic sensor and receive the ultrasound wave subroutine, if do not have the barrier echo then carry out the E step if the barrier echo is arranged.
6. method according to claim 5 is characterized in that, the said first ultrasonic sensor internal loopback subroutine comprises following steps:
The first step: wake first ultrasonic sensor up;
Second step: calculate first ultrasonic sensor and send ultrasound wave to receiving the used time of ultrasound wave;
The 3rd step: draw the distance between car and the barrier according to the used time.
7. method according to claim 5 is characterized in that, the said second ultrasonic sensor internal loopback subroutine comprises following steps:
The first step: wake second ultrasonic sensor up;
Second step: calculate second ultrasonic sensor and send ultrasound wave to receiving the used time of ultrasound wave;
The 3rd step: draw the distance between car and the barrier according to the used time.
8. method according to claim 5 is characterized in that, said first ultrasonic sensor sends ultrasound wave, second ultrasonic sensor receives the ultrasound wave subroutine and comprises following steps:
The first step: wake first ultrasonic sensor and second ultrasonic sensor respectively up;
Second step: calculate first ultrasonic sensor transmission ultrasound wave to the second ultrasonic sensor and receive the used time of ultrasound wave;
The 3rd step: draw the distance between car and the barrier according to the used time.
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| CN2011103117085A CN102508248A (en) | 2011-10-14 | 2011-10-14 | Distance measurement method of reversing radar |
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| CN2011103117085A CN102508248A (en) | 2011-10-14 | 2011-10-14 | Distance measurement method of reversing radar |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109696664A (en) * | 2019-01-07 | 2019-04-30 | 广州小鹏汽车科技有限公司 | A kind of detection method and detection device of ultrasonic wave co-channel interference |
| CN110749888A (en) * | 2019-12-20 | 2020-02-04 | 广州赛特智能科技有限公司 | Distance measurement method based on ultrasonic distance measurement system |
| CN113050099A (en) * | 2019-12-27 | 2021-06-29 | 广州汽车集团股份有限公司 | Automatic parking obstacle distance detection method, system and detection device thereof |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1472545A (en) * | 2002-08-01 | 2004-02-04 | 李世雄 | Method anjd apparatus for reducing dead detecting angle of radar for back running vehicle |
| CN101169479A (en) * | 2006-10-23 | 2008-04-30 | 李世雄 | Reversing radar for preventing error judgement and its method |
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- 2011-10-14 CN CN2011103117085A patent/CN102508248A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1472545A (en) * | 2002-08-01 | 2004-02-04 | 李世雄 | Method anjd apparatus for reducing dead detecting angle of radar for back running vehicle |
| CN101169479A (en) * | 2006-10-23 | 2008-04-30 | 李世雄 | Reversing radar for preventing error judgement and its method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109696664A (en) * | 2019-01-07 | 2019-04-30 | 广州小鹏汽车科技有限公司 | A kind of detection method and detection device of ultrasonic wave co-channel interference |
| CN110749888A (en) * | 2019-12-20 | 2020-02-04 | 广州赛特智能科技有限公司 | Distance measurement method based on ultrasonic distance measurement system |
| CN113050099A (en) * | 2019-12-27 | 2021-06-29 | 广州汽车集团股份有限公司 | Automatic parking obstacle distance detection method, system and detection device thereof |
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Application publication date: 20120620 |