CN103018743B - Static barrier judgment method for ultrasonic blind zone detection - Google Patents
Static barrier judgment method for ultrasonic blind zone detection Download PDFInfo
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- CN103018743B CN103018743B CN201210518492.4A CN201210518492A CN103018743B CN 103018743 B CN103018743 B CN 103018743B CN 201210518492 A CN201210518492 A CN 201210518492A CN 103018743 B CN103018743 B CN 103018743B
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Abstract
The invention discloses a static barrier judgment method for ultrasonic blind zone detection. The method includes that 1 a front probe and a back probe are respectively arranged at the front end and the back end of an automobile lateral body, the detection angle of the front probe is smaller than the detection angle of the back probe, and the detection area of the front probe is not overlapped with the detection area of the back probe; and 2 the front probe and the back probe are respectively used for detecting the corresponding detection area in real time. A. If a barrier detected by the front probe is detected by the back probe in preset time, and the back probe detects that the barrier is in the away state, the barrier is judged to be a non continuous static barrier. B. If the front probe still detects the barrier when the back probe detects the barrier, the distance between the front probe and the barrier is larger than set distance, and the distance between the back probe and the barrier is larger than the distance between the front probe and the barrier, the barrier is judged to be a continuous static barrier. The method can comprehensively and effectively judge the static barrier and achieves the aim of avoiding error judgment and leakage judgment.
Description
Technical field
The present invention relates to ultrasonic blind zone detection field, relate to the static barrier judgment method that a kind of ultrasonic blind zone detects in particular.
Background technology
The blind area of vehicle mirrors very easily causes vehicle lane change side to hit the generation of accident, and simultaneously various objective environment factor also can cause rear view mirror blind zone to increase or disabler, for example (,) misty rain sky, night the harsh environmental conditions such as the light is dusky.
Thus, the blind area detection system based on ultrasonic technology progressively starts to apply at present, and it is mainly in order to point out driver in the process of changing, the moving obstacle existed in rear view mirror blind zone; For stationary obstruction, such as trees, railing, metope, flowers and plants and parked vehicles etc. then need to be judged out, and notify system and without the need to sending alarm.
In view of this, be badly in need of a kind of accurate static barrier judgment method all sidedly, thus avoid erroneous judgement or fail to judge, the present inventor, for above-mentioned further investigation, has this case to produce then.
Summary of the invention
The object of the present invention is to provide the static barrier judgment method that a kind of ultrasonic blind zone detects, it accurately can determine stationary obstruction all sidedly.
In order to reach above-mentioned purpose, solution of the present invention is:
The static barrier judgment method that ultrasonic blind zone detects, wherein, comprising:
Probe and rear probe before the front-end and back-end of 1. leaning to one side at vehicle are respectively arranged with, the search angle of this front probe is less than the search angle of this rear probe, and the search coverage of this front probe is not overlapping with the search coverage of rear probe;
2. front probe and rear probe are real-time respectively detects respective search coverage:
A, discontinuous stationary object detect: if the barrier that front probe detects is detected by rear probe in the given time, and rear probe detects that this barrier is in away from state, then judge that this barrier is as discontinuous stationary obstruction;
B, continuously stationary object detect: if when rear probe detects barrier, this front probe still detects barrier, and the spacing of current probe and barrier is greater than setpoint distance, and after distance between probe and barrier be greater than before pop one's head in and distance between barrier time, be judged to be continuous stationary obstruction.
Further, step 1. in, two of this left and right vehicle wheel leans to one side all to be provided with front probe and rear probe, to detect the blind area of left and right vehicle wheel both sides respectively.
Further, the detection direction of this front probe is leaned to one side perpendicular to vehicle, and the detection direction of this rear probe favours vehicle and to lean to one side and towards rear view of vehicle.
Further, step 2. in, this rear probe sends detectable signal at multiple time points separately to barrier, and obtains the distance of barrier and rear probe respectively, if after send the distance value that obtains of detectable signal and be distal to the distance value obtained than front transmission detectable signal, be then judged to be barrier away from.
After adopting said structure, the static barrier judgment method that a kind of ultrasonic blind zone that the present invention relates to detects, it is popped one's head in and rear probe before being arranged respectively by the front and back of leaning to one side at vehicle, and make the search coverage of this front probe not overlapping with the search coverage of rear probe, so once the barrier detected by front probe, detected by rear probe again in the given time, and determine barrier by rear probe and be in away from state, so just can judge that this barrier is as stationary obstruction.
Accompanying drawing explanation
Fig. 1 is the schematic diagram that the present invention relates to forward and backward probe set-up mode and search coverage in static barrier judgment method that a kind of ultrasonic blind zone detects;
Fig. 2 is at rear probe, the static barrier judgment method that the present invention relates to the detection of a kind of ultrasonic blind zone judges that barrier is in away from schematic diagram during state.
In figure:
Probe 1 before vehicle 100
Rear probe 2 barrier 3.
Embodiment
In order to explain technical scheme of the present invention further, below by specific embodiment, the present invention will be described in detail.
The present invention relates to the static barrier judgment method that a kind of ultrasonic blind zone detects, comprising:
Probe 1 and rear probe 2 before the front-end and back-end of 1. leaning to one side at vehicle 100 are respectively arranged with, the search angle α of this front probe 1 is less than the search angle β of this rear probe 2, and the search coverage A of this front probe 1 is not overlapping with the search coverage B of rear probe 2; Specifically refer to shown in Fig. 1; In order to detect respectively the blind area of left and right vehicle wheel both sides, two of this vehicle about 100 leans to one side to be provided with front probe 1 and rear probe 2; Preferably, when actual detection, the detection direction of this front probe 1 is leaned to one side perpendicular to vehicle, and the detection direction of this rear probe 2 favours vehicle and to lean to one side and towards rear view of vehicle.
2. front probe 1 and rear probe 2 are real-time respectively detects respective search coverage, if the barrier that front probe 1 detects is detected by rear probe 2 in the given time, and rear probe 2 detects that this barrier is in away from state, then judge that this barrier is as stationary obstruction.
It should be noted that, for discontinuous stationary object (such as electric pole and trees), because the search coverage of this front probe 1 and rear probe 2 is not overlapping, namely both generally can not detect barrier simultaneously, namely, after probe 1 detects barrier before, a schedule time T(is crossed as 2s), rear detecting head will detect barrier, if again analyze as away from state, then stationary obstruction can be determined that it is.
Once run into continuous metope (such as bridge, tunnel etc.) and discontinuous stationary object (such as interval greenbelt, stationary vehicle) detects, so this step 2. in, if when rear probe 2 detects barrier, this front probe 1 still detects barrier, and current probe 1 is greater than setpoint distance (as 3m) with the spacing of barrier, and when the distance L popped one's head between 2 and barrier is greater than the front distance H popped one's head between 1 and barrier afterwards, be judged to be the continuous metope of stationary obstruction.
Step 2. in, a kind of embodiment of barrier away from state is judged as this rear probe 2, this rear probe 2 sends detectable signal at multiple time points separately to barrier 3, and obtain the distance of barrier 3 and rear probe 2 respectively, if after send the distance value that obtains of detectable signal and be distal to the distance value obtained than front transmission detectable signal, be then judged to be barrier 3 away from.Particularly, as shown in Figure 2, this vehicle moves forward with speed V, be in vehicle side rear and have a barrier, this rear probe 2 is respectively D0, D1, D2 and D3 in the distance that T0, T1, T2 and T3 moment detects barrier, if D0 < D1 < D2 < D3, so barrier from the distance between rear probe 2 more and more away from.
Above-described embodiment and graphic and non-limiting product form of the present invention and style, any person of an ordinary skill in the technical field, to its suitable change done or modification, all should be considered as not departing from patent category of the present invention.
Claims (1)
1. a static barrier judgment method for ultrasonic blind zone detection, is characterized in that, comprising:
1. the front probe of ultrasound wave arranged respectively by means of only the front-end and back-end of leaning to one side at vehicle and rear probe judge stationary obstruction, the search angle of this front probe is less than the search angle of this rear probe, the search coverage of this front probe is not overlapping with the search coverage of rear probe, the detection direction of this front probe is leaned to one side perpendicular to vehicle, and the detection direction of this rear probe favours vehicle and to lean to one side and towards rear view of vehicle;
2. front probe and rear probe are real-time respectively detects respective search coverage, and concrete decision method is:
A, discontinuous stationary object detect: if the barrier that front probe detects is detected by rear probe in the given time, and rear probe detects that this barrier is in away from state, then judge that this barrier is as discontinuous stationary obstruction;
B, continuously stationary object detect: if when rear probe detects barrier, this front probe still detects barrier, and the spacing of current probe and barrier is greater than setpoint distance, and after distance between probe and barrier be greater than before pop one's head in and distance between barrier time, be judged to be continuous stationary obstruction.
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| CN201210518492.4A CN103018743B (en) | 2012-12-06 | 2012-12-06 | Static barrier judgment method for ultrasonic blind zone detection |
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| CN201210518492.4A CN103018743B (en) | 2012-12-06 | 2012-12-06 | Static barrier judgment method for ultrasonic blind zone detection |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| TWI595457B (en) * | 2014-12-02 | 2017-08-11 | Metal Ind Res And Dev Centre | Anti-collision three-dimensional depth sensing system and its operation method |
| CN106353757B (en) * | 2016-08-30 | 2019-10-18 | 陈武强 | The vehicle blind zone detection system and method for microwave radar and ultrasonic sensor are set |
| CN107180502B (en) * | 2016-10-11 | 2020-10-09 | 深圳市沃特沃德股份有限公司 | Method, device and system for preventing pet wearable device from being damaged |
| CN110471067A (en) * | 2018-05-09 | 2019-11-19 | 长城汽车股份有限公司 | Distance determines method and device between a kind of vehicle and barrier |
| CN111562586B (en) * | 2020-04-28 | 2022-09-23 | 东风汽车集团有限公司 | Automobile blind area detection method based on vehicle blind area detection system |
| CN111896969B (en) * | 2020-08-23 | 2022-04-08 | 中国长江三峡集团有限公司 | System and method for identifying gate wall fixed target object by utilizing laser radar set |
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| DE102006047634A1 (en) * | 2006-10-09 | 2008-04-10 | Robert Bosch Gmbh | Method for detecting an environment of a vehicle |
| DE102008038731A1 (en) * | 2008-08-12 | 2010-02-18 | Continental Automotive Gmbh | Method for detecting extended static objects |
| CN101833092B (en) * | 2010-04-27 | 2012-07-04 | 成都捌零科技有限公司 | 360-degree dead-angle-free obstacle intelligent detection and early warning method for vehicle |
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