CN105388477B - A kind of Radar for vehicle adjustment control method - Google Patents
A kind of Radar for vehicle adjustment control method Download PDFInfo
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- CN105388477B CN105388477B CN201510716790.8A CN201510716790A CN105388477B CN 105388477 B CN105388477 B CN 105388477B CN 201510716790 A CN201510716790 A CN 201510716790A CN 105388477 B CN105388477 B CN 105388477B
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9315—Monitoring blind spots
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The present invention provides a kind of Radar for vehicle adjustment control methods, belong to automobile technical field.It solves the problems, such as that existing technical pattern is complicated and blind area detection range is small.This Radar for vehicle adjustment control method includes the following steps：Step 1：Judge whether current radar array needs adjustment, if desired, the correction of radar array initial angle is then completed by swing mechanism；If not needing, enter normal operating conditions；Step 2：After entering normal operating conditions, first determine whether the transport condition of vehicle subsequent time, corresponding operating mode, and then the angle for being adjusted to need by radar array by swing mechanism are obtained from operating mode selector according to judging result, enter back into the radar array swing angle adjusting stage；Step 3：The angle of radar array is maintained under the adjustment angle of needs by adaptive algorithm in the radar array swing angle adjusting stage.This method can improve the range of check frequency while reducing integral vehicle cost.
Description
Technical field
The invention belongs to automobile technical fields, are related to a kind of Radar for vehicle adjustment control method.
Background technology
In vehicle travel process, driver passes through the backsight sem observation vehicle both sides of front window both sides and the road and vehicle at rear
Situation.Since the visual field of vehicle mirrors is insufficient, on the way, vehicle window both sides are blind in the presence of visually observing always for driver drives vehicle
Area, driver can not observe in the region whether there is vehicles or pedestrians by rearview mirror.Therefore, in vehicle lane change, doubling etc.
There are security risks in link of driving a vehicle.
For above-mentioned blind zone problem, blind area is avoided to ask by being equipped with active safety radar on a large amount of automobiles at present
Topic, radar arrangement is fixed, since detection angles are limited, to reduce check frequency, need intensive arrangement radar and uses up
Amount increases overlapping region, causes the waste of radar actual use.And in fact, vehicle operation in lane change, overtake other vehicles, move backward etc. no
Different with existing to the demand of radar coverage under operating mode, fixed conventional radar arrangement cannot whole adaptive optimal controls these works
Condition, therefore there is compromise in traditional radar arrangement.In addition, when single radar breaks down, for the purpose of safety, can cause
Whole system cisco unity malfunction and fail.
In addition, existing Chinese patent literature also discloses that a kind of vehicle blind zone dynamic monitoring system and its method【Application
Number：CN201410809623.3】, blind area dynamic monitoring system is according to vehicle operating parameters, transport condition, road conditions and driver
Driving intention detecting real-time, dynamic analysis and sound-light alarm, prison are carried out to the vehicle in adjacent lane and adjacent lane blind area
Examining system to be arranged in vehicle body both sides ultrasonic probe pumping signal do dynamic adjustment can obtain different search coverages, signal
Pretreatment unit receives faint barrier reflection wave signal progress signal-to-noise ratio assessment to probe and is put to the signal in probe
Big circuit does Gain tuning to obtain the echo-signal compared with high s/n ratio.The invention need by the master and slave control framework of system come
Realize blind area safety warning function, it is complicated, and also the ultrasonic probe that vehicle body both sides are arranged in the invention is that fixation is set
It sets, investigative range is small, is not suitable for the use under various working, and use scope is small.
Invention content
The purpose of the present invention is there is the above problem in view of the prior art, it is proposed that a kind of Radar for vehicle adjusting control side
Method, the Radar for vehicle adjustment control method the technical problem to be solved is that：How inspection is improved while reducing integral vehicle cost
Survey the range of blind area.
Object of the invention can be realized by the following technical scheme：A kind of Radar for vehicle adjustment control method, feature
It is, this method comprises the following steps：
Step 1：Judge whether current radar array needs adjustment by angular transducer, if desired, then pass through swing
Mechanism completes the correction of radar array initial angle；If not needing, enter normal operating conditions；
Step 2：After entering normal operating conditions, judged first according to driver intention and vehicle current running state
The transport condition of vehicle subsequent time obtains corresponding operating mode, in turn according to judging result from operating mode selector
Data are adjusted according to pre-stored angle under operating mode, the angle for being adjusted to need by radar array by swing mechanism,
Enter back into the radar array swing angle adjusting stage；
Step 3：In the radar array swing angle adjusting stage, by adaptive algorithm, according to current vehicle transport condition
The angle for updating required radar array is adaptively adjusted.
The Radar for vehicle adjustment control method corrects the initial angle of radar array first, further according to driver intention and
Vehicle current running state judges the transport condition of vehicle subsequent time, if the transport condition of vehicle subsequent time is to the left simultaneously
Road then needs that radar array is adjusted to preset angle value according to this operating mode, makes, at simultaneously road to the left, to pass through radar
The angle adjustment of array can reduce blind area, traffic safety be improved, after being adjusted to radar array angle, in vehicle travel process
In, the angle of radar array may have offset, influence using effect, then need the angle to adjustment by adaptive algorithm
Adaptive update adjustment is carried out, to ensure that the angle of adjustment can be in setting range.
In above-mentioned Radar for vehicle adjustment control method, in the step 1, the radar array includes that setting exists
The radar element one and radar element two of headstock both sides and radar element three and radar element four in tailstock both sides are set, institute
Radar element one, radar element two, radar element three and radar element four respectively one swing mechanism of connection are stated, each radar element is logical
It crosses respective swing mechanism and realizes angle adjustment.Only four radar elements need to be set, by respective swing mechanism, according to vehicle
Different operating modes can be respectively controlled four radar elements, realize and reach most wide model with minimum radar number
The detection enclosed avoids the detection blind area in horizontal plane to greatest extent.
In above-mentioned Radar for vehicle adjustment control method, in the step 1, when being corrected to radar array,
Each radar element in radar array is adjusted separately as vertical vehicle headstock by swing mechanism, is carried out by angular transducer
It is confirmed whether to complete correction.The angle for correcting radar array can be that subsequent time angular adjustment improves accuracy, and simplifies behaviour
Make.
In above-mentioned Radar for vehicle adjustment control method, in the step 1, judging whether radar array needs
Before adjustment, first determine whether that radar array whether there is failure, there are the peaces that failure radar element is shown when failure in radar array
Holding position, and then failure is excluded.After the initialization of Radar for vehicle regulatory function, it is first determined whether there are failure, this
Deterministic process can improve traffic safety, avoid in the process of moving, and corresponding radar cannot play suggesting effect, while also can
It is emergent to sexually revise the launch angle for closing on radar when single radar breaks down, avoid system function entirely ineffective.
In above-mentioned Radar for vehicle adjustment control method, in the step 1, judging that radar array needs adjustment
When, it is also necessary to judge whether vehicle is in halted state, if being in halted state, adjustment is carried out to radar array, if not
Halted state then enters normal operating conditions.Before to radar array adjustment, also judge whether vehicle is in halted state, this
The judgement of one step can improve traffic safety, avoid carrying out adjustment in motion, and making radar array, there are erroneous judgements and delay to exist
The case where using effect under relevant work pattern.
In above-mentioned Radar for vehicle adjustment control method, in the step 2, judge that vehicle subsequent time travels shape
The data of state include gear signal, turn to modulating signal, steering wheel angle signal, accelerator pedal signal and brake pedal signal.By upper
These types of signal is stated, and combines the transport condition at current time, can effectively judge that vehicle is in state of rolling backward, parking stall outbound
State, simultaneously still simultaneously road, accuracy of judgement degree are high to the right in road to the left.
In above-mentioned Radar for vehicle adjustment control method, in the step 2, deposited in the operating mode selector
The correspondence radar array angular adjustment data of multiple-working mode and multiple-working mode are contained, many of operating mode includes
Reversing operating mode, to the left lane change operating mode, to the right lane change operating mode and parking stall outbound operating mode.Radar array angle
Degree adjusts data and is obtained by repetition test so that radar array can increase the model of blind area detection when carrying out angular adjustment
It encloses, while improving the accuracy of adjusting, improve the traffic safety of vehicle.
In above-mentioned Radar for vehicle adjustment control method, in the step 3, the adaptive algorithm is based on most
The adaptive filter algorithm of small mean square algorithm.Adaptive filter algorithm based on least mean square algorithm has tracking performance good and energy
Enough the advantages of parameter is automatically adjusted to optimum state.
In above-mentioned Radar for vehicle adjustment control method, in the step 3, adjusted in radar array swing angle
Whether stage, real-time judge complete the adjustment of the angle under current operation mode, the angle adjustment in the case where completing current operation mode
Return to step two afterwards.In this step, radar array need not be corrected, can enters directly into and judges vehicle in step 2
The step of subsequent time transport condition, this method simplifies operating procedure, radar array can be made to be directly entered lower a period of time
It carves transport condition and needs the angle adjusted, avoid the case where blind area occur in correction course, improve traffic safety.
Compared with prior art, this Radar for vehicle adjustment control method has the following advantages：
1, the present invention can realize the detection of wider scope, avoid to greatest extent by the way that four radar elements are only arranged
Detection blind area in horizontal plane, significantly reduces integral vehicle cost.
2, the present invention is made up of multiple radar elements is adjusted radar array realization co-ordination, can improve system
Reliability and redundancy complementary capabilities avoid single radar component failure from leading to system function failure, while passing through multiple radars member
The collaboration of part is swung, and reduces radar short distance or the check frequency range of different location to greatest extent.
Description of the drawings
Fig. 1 is the control flow chart of the present invention.
Specific implementation mode
Following is a specific embodiment of the present invention in conjunction with the accompanying drawings, technical scheme of the present invention will be further described,
However, the present invention is not limited to these examples.
As shown in Figure 1, this Radar for vehicle adjustment control method includes the following steps：
Step 1：First determine whether that radar array whether there is failure, there are failure radar is shown when failure in radar array
The installation site of element, and then failure is excluded, after troubleshooting or there is no when failure, judged by angular transducer
Whether current radar array needs adjustment, if desired, judge whether vehicle is in halted state, if being in halted state,
Adjustment is carried out to radar array, the correction of radar array initial angle is completed by swing mechanism；If not halted state or not
Adjustment is needed, then enters normal operating conditions；
Step 2：After entering normal operating conditions, judged first according to driver intention and vehicle current running state
The transport condition of vehicle subsequent time obtains corresponding operating mode, in turn according to judging result from operating mode selector
Data are adjusted according to pre-stored angle under operating mode, the angle for being adjusted to need by radar array by swing mechanism,
Enter back into the radar array swing angle adjusting stage；
Step 3：In the radar array swing angle adjusting stage, by adaptive algorithm, according to current vehicle transport condition
The angle for updating required radar array is adaptively adjusted.
Specifically,
In step 1, radar array includes radar element one and radar element two and the setting being arranged in headstock both sides
Radar element three and radar element four in tailstock both sides, the radar element one, radar element two, radar element three and radar
Element four is connected respectively a swing mechanism, and each radar element realizes that angle adjusts by respective swing mechanism.Its thunder
Angle up to element one, radar element two, radar element three and radar element four is at least 180 ° adjustable, if with radar element
One, the angle of radar element two, radar element three and the positive setting of radar element four is correction final angle, then being arranged in vehicle
The radar element in left side can at least adjust 120 ° to the left, adjust 60 ° to the right, be arranged vehicle right side radar element then extremely
60 ° can be adjusted to the left less, adjust 120 ° to the right.If four radar elements need to only be arranged, by respective swing mechanism, according to
The different operating mode of vehicle can be respectively controlled four radar elements, and realization is reached most with minimum radar number
The detection of wide scope avoids the detection blind area in horizontal plane to greatest extent.
It is by swing mechanism that each radar in radar array is first when being corrected to radar array in step 1
Part adjusts separately as vertical vehicle headstock, carries out being confirmed whether to complete correction by angular transducer.Specifically, radar array
Angle is corrected with the probe of radar element one and radar element two to right ahead, i.e., vertical headstock is arranged, radar element three
To vehicle dead astern, i.e., the vertical tailstock is arranged probe with radar element four.The angle for correcting radar array can be subsequent time
Angular adjustment improves accuracy, and simplifies operation.
In step 2, if judging in step 1, vehicle not for halted state, is adjusted to radar array angle
When also need to consider the initial angle of radar array, initial angle can be detected and be stored by angular transducer.Consider just
The accuracy of radar angular adjusting can be improved in beginning angle.
In step 2, judge that the data of vehicle subsequent time transport condition include gear signal, turn to modulating signal, turn to
Disk signal, accelerator pedal signal and brake pedal signal.By above-mentioned these types of signal, and combine the traveling shape at current time
State can effectively judge that vehicle is in state of rolling backward, parking stall outbound state, to the left and road or to the right and road, accuracy of judgement
Degree is high.
In step 2, the correspondence radar of multiple-working mode and multiple-working mode is stored in operating mode selector
Array angular adjustment data, many of operating mode include reversing operating mode, to the left lane change operating mode, to the right lane change work
Operation mode and parking stall outbound.Wherein, if radar element one and radar element three are arranged in vehicle left side, radar element two and thunder
Up to the setting of element four in vehicle right side, then the radar array angular adjustment data of corresponding reversing operating mode are by radar element three
45 ° -65 ° are adjusted to the right, and radar element four adjusts 45 ° -65 ° to the left, so that the investigative range of radar is covered vehicle tail, makes vehicle
Blind area is reduced in tail portion, and the angle of radar element one and radar element two does not adjust；The thunder of corresponding lane change operating mode to the left
It is that radar element one and radar element three are adjusted 115 ° -125 ° to the left up to array angular adjustment data, by two He of radar element
Radar element four adjusts 45 ° -65 ° to the left, so that vehicle left side is reduced blind area, while headstock and the tailstock also being made to avoid blind area；It is corresponding
To the right the radar array angular adjustment data of lane change operating mode be by radar element one and radar element three adjust to the right 45 °-
65 °, radar element two and radar element four are adjusted to the right 115 ° -125 °, so that vehicle right side is reduced blind area, while also making headstock
Blind area is avoided with the tailstock；Radar array angular adjustment data for parking stall outbound operating mode are by radar element one, thunder
It accordingly swings sideward dynamic angle up to element three, radar element two and radar element four, such as radar element one and radar element three
25 ° -35 ° are swung to the left, and radar element two and radar element four swing to the right 25 ° -35 °.Radar array angular adjustment data are logical
Cross repetition test acquirement so that radar array can increase the range of blind area detection when carrying out angular adjustment, while improve tune
The accuracy of section improves the traffic safety of vehicle.
In step 3, adaptive algorithm is the adaptive filter algorithm based on least mean square algorithm.Based on lowest mean square
The adaptive filter algorithm of algorithm has the advantages that tracking performance is good and can parameter be automatically adjusted to optimum state.
In step 3, in the radar array swing angle adjusting stage, whether real-time judge is completed under current operation mode
Angle adjustment, vehicle subsequent time traveling shape is judged in return to step two after the angle adjustment under completing current operation mode
The step of state.In this step, radar array need not be corrected, can enters directly into step 2 and judges under vehicle
The step of one moment transport condition, this method simplify operating procedure, and radar array can be made to be directly entered subsequent time row
It sails state and needs the angle adjusted, avoid the case where blind area occur in correction course, improve traffic safety.
The detailed process of the Radar for vehicle adjustment control method is：
After being initialized, first determine whether that radar array whether there is failure, there are event is shown when failure in radar array
Hinder the installation site of radar element, and then failure is excluded, after troubleshooting or there is no when failure, passes through angle sensor
Device judges whether current radar array needs adjustment, if desired, judges whether vehicle is in halted state, if in shape is stopped
State then carries out adjustment to radar array, the correction of radar array initial angle is completed by swing mechanism, even if in radar array
Radar element one and the setting of two vertical headstock of radar element of headstock are set, the radar element three and radar element in the tailstock are set
Four vertical tailstock settings；If not halted state does not need adjustment, then enter normal operating conditions；Shape is worked normally entering
After state, the transport condition of vehicle subsequent time is judged according to driver intention and vehicle current running state first, if specifically,
Vehicle current running state is straight trip, according to gear signal, turns to modulating signal, steering wheel angle signal, accelerator pedal signal and braking
It is to the left and road, then according to this judging result of subsequent time transport condition from operating mode that pedal signal, which carries out comprehensive descision,
Corresponding operating mode is obtained in selector, if judging subsequent time transport condition to the left and road, then to select to the left and road
Operating mode, according to the left and under road operating mode, pre-stored angle adjusts data, by swing mechanism by radar battle array
Radar element one, radar element two, radar element three and radar element four in row adjust corresponding angle to the left respectively, it is made to subtract
Small vehicle left side blind area, after adjusting the angle of radar array, into the radar array swing angle adjusting stage；In radar battle array
The angle of radar array is maintained in required angle by adaptive algorithm, avoids vehicle by the row swing angle adjusting stage
The case where angle offset occurring in the process of moving, influencing traffic safety and reduce check frequency range.
Specific embodiment described herein is only an example for the spirit of the invention.Technology belonging to the present invention is led
The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method
In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Claims (7)
1. a kind of Radar for vehicle adjustment control method, which is characterized in that this method comprises the following steps：
Step 1：Judge whether current radar array needs adjustment by angular transducer, if desired, then pass through swing mechanism
Complete the correction of radar array initial angle；If not needing, enter normal operating conditions；
Step 2：After entering normal operating conditions, vehicle is judged according to driver intention and vehicle current running state first
The transport condition of subsequent time obtains corresponding operating mode, and then basis according to judging result from operating mode selector
Pre-stored angle adjusts data under operating mode, the angle for being adjusted to need by radar array by swing mechanism, then into
Enter the radar array swing angle adjusting stage；
Step 3：It is adaptive according to current vehicle transport condition by adaptive algorithm in the radar array swing angle adjusting stage
Adjust the angle for updating required radar array with answering；
Wherein, in the step 1, when judging that radar array needs adjustment, it is also necessary to judge vehicle whether in stopping shape
State carries out adjustment if being in halted state to radar array, if not halted state, then enters normal operating conditions；
In the step 2, if judging vehicle in step 1 not for halted state, also when being adjusted to radar array
It need to consider that the initial angle of radar array, initial angle are detected and are stored by angular transducer；
In step 3, in the radar array swing angle adjusting stage, whether real-time judge completes the angle under current operation mode
Degree adjustment judges vehicle subsequent time transport condition after the angle adjustment under completing current operation mode in return to step two
Step.
2. Radar for vehicle adjustment control method according to claim 1, which is characterized in that described in the step 1
Radar array include be arranged headstock both sides radar element one and radar element two and be arranged tailstock both sides radar member
Part three and radar element four, respectively connection one is put for the radar element one, radar element two, radar element three and radar element four
Motivation structure, each radar element realize that angle adjusts by respective swing mechanism.
3. Radar for vehicle adjustment control method according to claim 2, which is characterized in that in the step 1, right
When radar array is corrected, each radar element in radar array is adjusted separately as vertical vehicle vehicle by swing mechanism
Head carries out being confirmed whether to complete correction by angular transducer.
4. Radar for vehicle adjustment control method according to claim 3, which is characterized in that in the step 1, sentencing
Before whether disconnected radar array needs adjustment, first determine whether that radar array whether there is failure, there are shown when failure in radar array
Show the installation site of failure radar element, and then failure is excluded.
5. Radar for vehicle adjustment control method according to claim 1, which is characterized in that in the step 2, judge
The data of vehicle subsequent time transport condition include gear signal, turn to modulating signal, steering wheel angle signal, accelerator pedal signal and system
Dynamic pedal signal.
6. Radar for vehicle adjustment control method according to claim 5, which is characterized in that described in the step 2
The correspondence radar array angular adjustment data of multiple-working mode and multiple-working mode are stored in operating mode selector,
Middle multiple-working mode includes reversing operating mode, to the left lane change operating mode, to the right lane change operating mode and parking stall outbound
Operating mode.
7. Radar for vehicle adjustment control method according to claim 1, which is characterized in that described in the step 3
Adaptive algorithm is the adaptive filter algorithm based on least mean square algorithm.
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| CN201510716790.8A CN105388477B (en) | 2015-10-29 | 2015-10-29 | A kind of Radar for vehicle adjustment control method |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106646488A (en) * | 2017-01-12 | 2017-05-10 | 京东方科技集团股份有限公司 | Vehicle-mounted road obstacle detecting system |
| US10503170B2 (en) * | 2017-08-28 | 2019-12-10 | GM Global Technology Operations LLC | Method and apparatus for monitoring an autonomous vehicle |
| CN109521428B (en) * | 2018-12-11 | 2021-11-30 | 安徽江淮汽车集团股份有限公司 | Dynamic lane width threshold method for effectively reducing missing report rate of blind spot monitoring system |
| CN110275167A (en) * | 2019-06-03 | 2019-09-24 | 浙江吉利控股集团有限公司 | A kind of control method of radar detection, controller and terminal |
| CN110703216B (en) * | 2019-10-21 | 2023-08-22 | 苏州豪米波技术有限公司 | Radar adjusting system, adjusting method and radar device |
| CN113625234A (en) * | 2020-05-06 | 2021-11-09 | 上海海拉电子有限公司 | Installation angle correction method of vehicle radar and vehicle radar |
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| CN101398479A (en) * | 2007-09-28 | 2009-04-01 | 罗伯特·博世有限公司 | Radar sensor for recording the traffic environment in motor vehicles |
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| CN103649773A (en) * | 2011-07-05 | 2014-03-19 | 罗伯特·博世有限公司 | Radar system for motor vehicles, and motor vehicle having a radar system |
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