CN103101493B - The reception device and method of reseptance of parking assisting system - Google Patents
The reception device and method of reseptance of parking assisting system Download PDFInfo
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- CN103101493B CN103101493B CN201210443071.XA CN201210443071A CN103101493B CN 103101493 B CN103101493 B CN 103101493B CN 201210443071 A CN201210443071 A CN 201210443071A CN 103101493 B CN103101493 B CN 103101493B
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- reception device
- data signal
- assisting system
- parking assisting
- signal
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Classifications
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8093—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/54—Audio sensitive means, e.g. ultrasound
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Devices For Checking Fares Or Tickets At Control Points (AREA)
Abstract
The present invention proposes the reception device and method of reseptance of a kind of parking assisting system, the reception device is that the existing linear envelope detector being located between converter portion and comparing section in the parking assisting system reception device using ultrasonic sensor is replaced with square wave detector, the parking assisting system reception device of the degree of accuracy of ultrasonic sensor detection object is lifted to lift signal to noise ratio, the method of reseptance using the parking assisting system of the device is also proposed in the present invention, and using the storage medium lifting signal to noise ratio of pre-defined look-up table form（SNR）Parking assisting system method of reseptance.
Description
Technical field
The present invention relates to the sensor signal reception device and method of reseptance of parking assisting system, signal to noise ratio is specifically lifted
Parking assisting system reception device and application the device method of reseptance.
Background technology
The parking assisting system of general auxiliary vehicle parking has when parking to the periphery close within vehicle allowable distance
Object examinations and the function of information is provided.Therefore, common parking assisting system is typically also included utilizes supersonic sensing
The action of device measurement distance.Using the reception for measuring the parking assisting system of the ultrasonic sensor of distance between object and automobile
Device is by following reception signal processing.
Fig. 1 is the structure chart 10 of traditional parking assisting system reception device.The process includes：Passed by ultrasonic wave first
Sensor receives electric signal；Remove unnecessary signal in clamp portion 11；Amplifier 12 amplifies necessary signal；Converter portion 13 will
Analog signal is converted into data signal；The frequency filtering of wave filter portion 14；Envelope test section 15 detects electric signal；Comparing section 14 pairs
The critical value of the storage of critical value storage unit 16 and the value of the output of envelope test section 15 are compared.
From it is traditional technically from the point of view of, diminish from the signal magnitude of object reflection and apart from proportional, therefore monitoring long distance
Bigger amplification coefficient is needed from than monitoring short distance.But small signal is amplified into then signal to noise ratio with big magnifying power（Signal
to Noise Ratio:SNR）Reduce and be difficult to differentiate between signal and noise.And the reception device of traditional parking assisting system
In amplifier portion can use application nonlinear characteristic（Non-linear）Amplifier portion replace, but the application non-thread
Property the amplifier portion of characteristic its preparation method it is complicated, expensive, and then there is the defect of cost of manufacture rising.
The content of the invention
A kind of reception device it is an object of the invention to provide utilization parking assisting system and the reception using the device
Method, with the sensor signal to noise ratio that the reception device for improving parking assisting system is received（SNR）With reduction manufacturing cost.
The reception device of the parking assisting system that one aspect of the present invention is related to, including：Converter portion, will be with vehicle receiver
The corresponding analog signal of ultrasonic wave be converted into data signal；Test section, the number of the conversion is detected using square estimation algorithm
The squared absolute value of word signal amplitude；Comparing section, the detected value of the test section and pre-defined critical value are compared
After export comparison result value.
The method of reseptance of the reception device of the utilization parking assisting system that another aspect of the present invention is related to, the implementation of the method
Step includes：Analog signal corresponding with the ultrasonic wave of vehicle receiver is converted into data signal；It is the numeral letter of the reception
Number non-linear response characteristic is assigned, and possess the look-up table for storing the value calculated in advance according to square estimation algorithm；With reference to described
Look-up table extracts the output valve matched with the data signal of the reception from the look-up table.
Present invention has the advantage that：
According to the present invention, the reception device of car parking accessory system does not use complicated non-of expensive, preparation method
Linear amplifier can also improve signal to noise ratio（SNR）And save the cost of manufacture of system.
From aspect of performance, signal to noise ratio is improve than existing invention（SNR）, so that more accurately confirm object proximity with
It is no.
The border of signal and noise is obvious, it is easy to extract comparison signal between signal, noise and raising action it is credible
Degree.
In terms of technique simplification, noise is flowed into less and utilized lesser amount of when sensor sensitivity is adjusted in technical process
Sample can also adjust susceptibility and simpler in technique.
In terms of the reduction of number of fitting parts, without the use of for reducing the special accessory of noise and accessory usage quantity subtracts
It is few, and then realize product lightweight.
And the number of fitting parts that uses reduces, cost-effective and more environmentally-friendly compared with traditional technology.
Brief description of the drawings
Fig. 1 is the structure chart of traditional parking assisting system reception device；
Fig. 2 is the structure chart of the parking assisting system reception device of the embodiment of the present invention；
Fig. 3 is by the reception in the reception device of the traditional envelope test section of application and application square examination portion of the invention
The figure that the transmission characteristic of device is compared；
The figure of SNR waveforms when Fig. 4-A are using traditional envelope test section；
The figure of SNR waveforms when Fig. 4-B are using square examination portion of the invention；
Fig. 5 is the precedence diagram of the method for reseptance of the reception device of parking assisting system；
Fig. 6 is the utilization look-up table of the embodiment of the present invention（look-up table）Parking assisting system method of reseptance
Structure chart.
Specific embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, clear, complete description is carried out to the technical scheme in the embodiment of the present invention, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.This hair
The bright middle term for using only is used to illustrate embodiment, is not to limit the invention.Singulative in this specification,
On the premise of there is no special suggestion in sentence, also comprising plural form.Used in specification " including（comprises）" or
" including (comprising) " be not excluded for beyond involved component, step, action and/or element it is more than one its
The presence of its component, step, action and/or element or supplement.
Below with reference to the accompanying drawings the embodiment of the present invention is described in detail.
The present invention relates to the reception device and the method for reseptance of parking assisting system of parking assisting system, its composition is included in
Between wave filter portion 140 and comparing section 170 using square examination portion 150 lifted SNR parking assisting system method of reseptance and
Using the parking assisting system of the method.
Fig. 2 is the structure chart of the parking assisting system reception device of the embodiment of the present invention.As shown in Fig. 2 the present invention is implemented
The reception device that the parking assisting system of example possesses includes clamp portion 110, amplifier portion 120, converter portion 130, wave filter
Portion 140, square examination portion 150, critical value storage unit 160, comparing section 170 and control unit 180.
Clamp portion 110 can be made up of clamp circuit.Clamp circuit is to be fixed into necessarily a position of cycling wave form
The circuit of level, inside possesses conversion element.Clamp portion 110 is to be become the voltage of input value according to the switching motion of conversion element
Change, frequency change etc. are limited in particular range.For example, be fixed on power output using diode or transistor determining in advance
The above and below of the particular value of justice.Implement to remove using pre-defined specific frequency domain by clamp circuit in clamp portion 110
The function of unnecessary frequency domain, and the analog electrical signal of frequency domain for implementing not to be eliminated is delivered to the function in amplifier portion 120.
Amplifier portion 120 can be made up of amplifier circuit as one.Amplify received simulation in amplifier portion 120
The amplitude size of electric signal, converter portion 130 is sent to by the analog electrical signal of amplification.
Converter portion 130 can be made up of converter circuit as one.The mould that converter portion 130 will receive
Intend electric signal and be converted into digital electric signal.
Wave filter portion 140 can be made up of filter circuit as one.The specific frequency domain of filter circuit segregation ratio is high
Or low frequency content, input signal is transmitted to after filter circuit the signal for exporting filtering.That is, wave filter portion 140
For the digital electric signal for receiving, only permitted particular frequency range and passed through.The species of filter circuit has low pass filter（Low-
Pass-Filter）, bandpass filter（Band-Pass-Filter）And high-pass filter（High-Pass-Filter）.
Wave filter portion 140 can use intermediate frequency（Intermediate Frequency）.Contain voice, number in communication system
It is low base band according to the frequency of the information such as, image（baseband）Frequency.Voice is that, in kHz, image and data are to take to deposit in MHz
In baseband frequency.And to leave the signal of the baseband frequency band, antenna is actual to be discharged with electromagnetic wave form, should lift height
The carrier frequency of frequency domain.
Q is selectance in wave filter, is the ability that frequency band needed for oneself is accurately selected from broadband.Q is high, can carry
The performance of communication system is risen, but costly, volume also can therewith become big.
When RF high frequency bands are implemented to filter, centre frequency is very high, therefore uses the big wave filter of Q values in wave filter portion 140
And the size of wave filter, price, performance is correspondingly increased.Wave filter portion 140 implements to filter in IF frequency bands, then Q values can diminish
And the cost of manufacture of wave filter is reduced, performance and susceptibility are beneficial to realize making compared with the more lifting processed in other frequency bands
Low cost and the wave filter of performance enhancement.
Test section 150 be using square estimation algorithm obtain digital electric signal amplitude absolute value square.
Square estimation algorithm is available with the realization such as monte carlo integration, Newton iteration method.Monte carlo integration be for
The simple method for obtaining approximation when being integrated with the insoluble function of numerical integration.With the insoluble letter of numerical integration
Number f（x）Integration can use probability-distribution function P（x）By formula（1）Calculated.
Here gross area when I is with bi-distribution B (N, p (x)), N is the size of total sample.
The average dispersion value of desired value represents with σ, sees formula（2）.
Monte Carlo Calculation is divided into three below step to be carried out.
(1) generate with sampling (Sampling) sample of probability-distribution function (PDF).
(2) function in the sample of assessment generation.
(3) mean square deviation of the sample of the weighted value with above-mentioned generation is calculated.
Newton iteration method is the method that approximation is found a function when being difficult to obtain inverse function.The method be to find out approximation and
Using differential.Newton iteration method can be by formula（3）, formula（4）Calculated.
Continuous function is defined with f (x), and the derived function of continuous function is defined with f ' (x), and first of continuous function is near
Like value x0During definition,
The process can obtain x repeatedlyn。
Comparing section 170 can be made up of comparison circuit as one.Comparison circuit 170 is transfused to be examined by square estimation algorithm
The detected value of survey, and it is stored in the pre-defined critical value of critical value storage unit 160.As one, comparing section 170 be by
Detected value and critical value compare and output digit signals 0 or 1.
Control unit 180 receives collection and makes an uproar ratio（SNR）The data signal of rising, object and car are used for by the data signal of the reception
The calculating of range information, vehicle front have the much informations such as accessible judgement to process between.
Fig. 3 is the reception device and the reception device using test section of the invention to the traditional envelope test section of application
The figure that is compared of transmission characteristic.
It is that x is considered as input electrical signal value using the reception device of envelope detection mode with reference to Fig. 3, y is considered as output
There is the characteristic of linear function during value of electrical signals.
The reception device of the application test section 150 of Fig. 2 is that x is considered as into input electrical signal value, when y is considered as output value of electrical signals
Characteristic with nonlinear function.
Fig. 4-A are that, using the SNR waveform graphs of traditional envelope test section, Fig. 4-B are using of the invention square of inspection
The SNR waveform graphs in survey portion.
With reference to Fig. 4-A signal to noise ratios（SNR）It is the quality standard of signal.Signal component typically with noise into（noise）Altogether
Deposit.
Signal to noise ratio is used as the standard for representing the ratio, S is signal power, and its expression formula is when N is noise powerUnit is dB.In the realization of general reception device system, the size of SNR
Bigger, noise electrical power can be relatively small.
What Fig. 4-A were represented is the SNR waveforms using the reception device of traditional envelope detection mode, and small signal is represented
Noise composition（noise）, big signal represents signal component（Signal）.Now SNR=10log (8/4)=3dB.Fig. 4-B are tables
Show the SNR waveforms of the reception device of the invention of the test section 150 illustrated in application drawing 2, now SNR=10log (5/1)=7dB.
The present invention is signal to noise ratio（SNR）It is bigger than known invention and noise power is relatively smaller and the performance of reception device is lifted.
Fig. 5 is the precedence diagram of the reception device method of reseptance that parking assisting system possesses.With reference to Fig. 5, clamp portion is by ultrasound
The analog electrical signal that wave sensor is received is clamped in pre-defined particular step（S510）.
Therewith, the amplitude size of the analog electrical signal being clamped is amplified in amplifier portion（S520）.
Therewith, the analog electrical signal of amplification is converted into data signal by converter（S530）.
Therewith, by the wave filter of the frequency domain for pre-defining be filtered data signal by wave filter portion（S540）.
Therewith, the Amplitude-squared value of the data signal of test section application square estimation algorithm output filtering（S550）.
Therewith, exported after comparing section is compared to the output valve and critical value in square examination portion（S560）.
Fig. 6 is the structure chart of the parking assisting system reception device of the utilization look-up table of another embodiment of the present invention.Fig. 6
In, the reception device 600 of the parking assisting system of the utilization look-up table of another embodiment of the present invention includes clamp portion 610, puts
Big device portion 620, converter portion 630, wave filter portion 640, the storage unit 650 of look-up table form and control unit 660.Herein,
Clamp portion 610, amplifier portion 620, AD turn that the reception device 600 of the parking assisting system of another embodiment of the present invention possesses
The clamp of the reception device 200 of the parking assisting system illustrated in parallel operation portion 630, wave filter portion 640 and control unit 660 and Fig. 2
Portion 110, amplifier portion 120, converter portion 130, wave filter portion 140 and control unit 180 are same with same structure and implementation
The function of sample.Therefore another embodiment of the present invention parking assisting system reception device 600 possess structure 610,620,
630th, 640,660 no longer describe herein.
The storage unit 650 of look-up table form can be by storage mediums such as the disk, CD, the flash memories that are stored with look-up table form
Constitute.Look-up table（Look-Up-Table）Be simplify for system, hardware design is convenient and set, with form with connect
The corresponding pre-defined value of input of receipts, sends the value with the corresponding look-up table of input for receiving.The storage of look-up table form
Portion 650 is the output valve defined in advance for the digital electric signal output for receiving.The output valve also has SNR more than input signal
Plus the nonlinear characteristic of lifting.
Above example and particular terms are merely illustrative of the technical solution of the present invention, rather than its limitations；Although with reference to
Previous embodiment has been described in detail to the present invention, it will be understood by those within the art that：It still can be right
Technical scheme described in foregoing embodiments is modified, or carries out equivalent to which part technical characteristic；And these
Modification is replaced, and does not make the scope of technical scheme described in the essence disengaging various embodiments of the present invention of appropriate technical solution.
Claims (4)
1. a kind of reception device of parking assisting system, it is characterised in that including：
Converter portion, data signal is converted into by analog signal corresponding with the ultrasonic wave of vehicle receiver；
Wave filter portion, filters the data signal；
Test section, the squared absolute value of the digital amplitude signal of the conversion is detected using square estimation algorithm；
Comparing section, it is defeated as comparison result value after the detected value of the test section and pre-defined critical value are compared
Go out 0 or 1 data signal；And
Control unit, the transmission of the data signal is received from the comparing section, and the data signal that will be received is used at information
Reason,
The test section is that the data signal that response is filtered by the wave filter portion is exported according to described square of estimation algorithm
The detected value with non-linear response characteristic.
2. the reception device of parking assisting system according to claim 1, it is characterised in that
The wave filter portion uses intermediate frequency.
3. the reception device of parking assisting system according to claim 1, it is characterised in that
Described square of estimation algorithm of the test section be from monte carlo integration and Newton iteration method using wherein some.
4. a kind of method of reseptance of parking assisting system reception device, it is characterised in that implementation step includes：
Analog signal corresponding with the ultrasonic wave of vehicle receiver is converted into data signal；
It is that the data signal of the reception assigns non-linear response characteristic, and possesses to store and calculated in advance according to a square estimation algorithm
Value look-up table；
The output valve matched with the data signal of the reception is extracted from the look-up table with reference to the look-up table；And
The output valve extracted from the look-up table and pre-defined critical value are compared, and are exported as comparative result
0 or 1 data signal, so as to the step of being used for information processing.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020110118159A KR101883947B1 (en) | 2011-11-14 | 2011-11-14 | A receiver and method of parking assistant system |
| KR10-2011-0118159 | 2011-11-14 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103101493A CN103101493A (en) | 2013-05-15 |
| CN103101493B true CN103101493B (en) | 2017-06-23 |
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| CN201210443071.XA Active CN103101493B (en) | 2011-11-14 | 2012-11-08 | The reception device and method of reseptance of parking assisting system |
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| Country | Link |
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| KR (1) | KR101883947B1 (en) |
| CN (1) | CN103101493B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102159350B1 (en) * | 2013-11-25 | 2020-09-23 | 현대모비스 주식회사 | Device for improving the detection performance of ultrasonic sensors of vehicle and method thereof |
| KR102240494B1 (en) | 2014-07-29 | 2021-04-16 | 현대모비스 주식회사 | Apparatus and Method for Object Detection |
| KR102405261B1 (en) | 2020-02-28 | 2022-06-30 | 주식회사 원키 | Distance measuring system between the car and the device |
| KR102448004B1 (en) | 2020-03-09 | 2022-09-27 | 주식회사 원키 | Distance measuring system between time-synchronized car and device |
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| CN1641376A (en) * | 2003-12-17 | 2005-07-20 | 株式会社电装 | Apparatus for detecting a distance and apparatus for detecting a body |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN103101493A (en) | 2013-05-15 |
| KR101883947B1 (en) | 2018-07-31 |
| KR20130052852A (en) | 2013-05-23 |
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