CN108594789A - A kind of off host reverse radar system and control method - Google Patents
A kind of off host reverse radar system and control method Download PDFInfo
- Publication number
- CN108594789A CN108594789A CN201810264693.3A CN201810264693A CN108594789A CN 108594789 A CN108594789 A CN 108594789A CN 201810264693 A CN201810264693 A CN 201810264693A CN 108594789 A CN108594789 A CN 108594789A
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- Prior art keywords
- radar system
- reverse radar
- host
- host reverse
- warning device
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0221—Preprocessing measurements, e.g. data collection rate adjustment; Standardization of measurements; Time series or signal analysis, e.g. frequency analysis or wavelets; Trustworthiness of measurements; Indexes therefor; Measurements using easily measured parameters to estimate parameters difficult to measure; Virtual sensor creation; De-noising; Sensor fusion; Unconventional preprocessing inherently present in specific fault detection methods like PCA-based methods
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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
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Radar Systems Or Details Thereof (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention provides a kind of off host reverse radar system and control methods, belong to vehicular field.The off host reverse radar system includes multiple from sensor, for acquiring obstacle information and being sent to master reference；One master reference, for acquiring obstacle information, the obstacle information acquired from sensor is received simultaneously and sends control instruction to described from sensor, the master reference analyzes the obstacle information of all acquisitions and obtains alarm command, and the alarm command is transmitted to warning device by the CAN bus of vehicle；And warning device, for receiving the alarm command and according to the alarm command output alarm signal.The off host reverse radar system transmission speed is fast, signal stabilization and is easy to arrange.
Description
Technical field
The present invention relates to vehicular fields, more particularly to a kind of off host reverse radar system and control method.
Background technology
Reverse radar system includes off host radar system and has host radar system.There is host radar system to be equipped with special
Controller, for controlling reverse radar system.Off host radar system currently on the market is carried out by the way of LIN communications
Address is distributed, so that it is determined that the obstacle information of acquisition, is then sent to vehicle body control by master reference and from sensor by LIN
Controller on device processed or other vehicles, is sent obstacle information by CAN bus by car body controller or other controllers
To warning device, then by the display of warning device progress alarm signal.
Due to there is host radar system to need that dedicated controller is arranged, for off host radar system
More components, are not easy to space layout；And off host radar system is needed through car body controller or other controllers
It can be communicated with the CAN bus of vehicle, signaling rate is slow, jitter.
Invention content
It is an object of the present invention to provide a kind of off host reverse radar system, transmission speed is fast, signal stabilization
And it is easy to arrange.
A further object of the present invention is to provide a kind of control method for off host reverse radar system, institute
The System self-test speed for stating control method is fast.
Particularly, the present invention provides a kind of off host reverse radar systems, including：
It is multiple from sensor, for acquiring obstacle information and being sent to master reference；
One master reference for acquiring obstacle information, while receiving the obstacle information acquired from sensor
And control instruction is sent to described from sensor, the master reference analyzes the obstacle information of all acquisitions and show that alarm refers to
It enables, the alarm command is transmitted to warning device by the CAN bus of vehicle；And
Warning device, for receiving the alarm command and according to the alarm command output alarm signal.
Further, the off host reverse radar system further includes switch, for controlling the off host radar for backing car
The opening and closing of system.
Further, the switch controls the off host reverse radar system when the vehicle hangs reverse gear and opens,
Optionally, the off host reverse radar system includes radar system button switch, for controlling the switch
Opening and closing.
Further, the master reference has the function of System self-test.
Further, the warning device is human-computer interaction interface.
Further, the alarm signal includes voice signal and visual signal,
Optionally, the voice signal is exported by instrument board or loud speaker, and the visual signal passes through the instrument board
Or digital video interactive output.
Particularly, the present invention also provides a kind of control methods for above-mentioned off host reverse radar system, special
Sign is, includes the following steps：
Vehicle powers on, and the off host reverse radar system enters standby mode；
The off host reverse radar system is opened, the master reference carries out System self-test；
If self-test success, the warning device pipe once, the off host reverse radar system enters working condition, and
And in the working condition constantly self-test；Otherwise the warning device does not pipe and indicates corresponding fault message；
Into after the working condition, the master reference and it is the multiple from sensor acquire obstacle information；
The master reference analyzes acquired obstacle information and obtains the alarm command；
The warning device exports corresponding alarm signal according to the alarm command.
Further, when electronic brake system works or gear is in parking position switch, the warning device is forbidden defeated
Go out voice signal.
Further, when the off host reverse radar system is alarmed, if the barrier is far from the vehicle
And separate distance be more than first threshold when, the warning device forbid export voice signal, if the barrier leans at this time again
The nearly vehicle and when close distance is more than second threshold, exports the voice signal.
Further, when the speed of the vehicle is more than third threshold value, the off host reverse radar system stops work
Make, if at this point, the speed reduces and is less than four threshold values again when, the off host reverse radar system is resumed work.
The master reference of the off host reverse radar system of the present invention, has host reverse radar system due to being integrated with tradition
Controller and ordinary sensors function, on the one hand the master reference plays the role of control described from sensor, another
Aspect is directly connected with CAN bus, and faster, signal is also more for the more existing off host reverse radar system of transmission speed of information
Stablize.
Further, relative to having for host reverse radar system, system of the invention has lacked a controller part,
It is installed in arrangement can save certain space, and the quantity of component, which is reduced, to be also more conducive to arrange so that whole system is being arranged
On more generally have host reverse radar system more Simple convenient.
According to the following detailed description of specific embodiments of the present invention in conjunction with the accompanying drawings, those skilled in the art will be brighter
The above and other objects, advantages and features of the present invention.
Description of the drawings
Some specific embodiments that the invention will be described in detail by way of example and not limitation with reference to the accompanying drawings hereinafter.
Identical reference numeral denotes same or similar component or part in attached drawing.It should be appreciated by those skilled in the art that these
What attached drawing was not necessarily drawn to scale.In attached drawing：
Fig. 1 is the electrical schematic diagram of off host reverse radar system according to an embodiment of the invention；
Fig. 2 is the electrical schematic diagram of off host reverse radar system in accordance with another embodiment of the present invention；
Fig. 3 is the flow chart of control method according to an embodiment of the invention.
Specific implementation mode
Fig. 1 is the electrical schematic diagram of off host reverse radar system according to an embodiment of the invention.The institute of the present embodiment
State off host reverse radar system may include master reference 10, three from sensor 20,30 and of warning device in general manner
Switch 40.The described three left rears that vehicle is located at from sensor 20, it is right in rear and right back, be respectively used to acquire
The left rear of vehicle, it is right in the obstacle information of rear and right back and obstacle information is sent to master reference 10.It is described
Master reference 10 is located at the left back of vehicle, is used for the obstacle information of collection vehicle left back, while receiving described from sensing
The obstacle information of the acquisition of device 20 simultaneously sends control instruction to described from sensor 20, and the master reference 10 analyzes all acquisitions
Obstacle information and obtain alarm command, the alarm command is transmitted to warning device 30 by the CAN bus of vehicle.It is described
Warning device 30, for receiving the alarm command and can be human-computer interaction according to the alarm command output alarm signal
Interface.The alarm signal includes voice signal and visual signal, and the voice signal is exported by instrument board or loud speaker, institute
Visual signal is stated to export by the instrument board or digital video interactive.The off host reverse radar system of the present embodiment is in vehicle
When hanging reverse gear, the switch 40 controls off host reverse radar system unlatching.
The master reference 10 of the off host reverse radar system of the present invention is provided simultaneously with ordinary sensors obstacle information and adopts
Collect function and control function, is equivalent to the role for the controller for assuming responsibility for host reverse radar system, while but also with biography
The function of sensor.It is described from sensor 20 that 10 one side of the master reference plays the role of control, on the other hand directly and CAN
Bus is connected, and faster, signal is also more stable for the more existing off host reverse radar system of transmission speed of information.Secondly, phase
For having for host reverse radar system, system of the invention has lacked a controller part, and being installed in arrangement can save
Certain space is saved, the quantity of component, which is reduced, to be also more conducive to arrange so that whole system more generally has host reversing in arrangement
Radar system more Simple convenient.
Fig. 2 is the electrical schematic diagram of off host reverse radar system in accordance with another embodiment of the present invention.The present embodiment
The off host reverse radar system includes master reference 10, seven from sensor 20, warning device 30 and radar system
Button switch 50.The present embodiment also adds the slave sensor 20 in four fronts on the basis of the above embodiments, is located at
Front and right front in the left front of vehicle, left front, the right side, before being respectively used in collection vehicle left front, left front, the right side
Obstacle information is simultaneously sent to master reference 10 by the obstacle information of side and right front.The master reference 10 has system certainly
Checking functions.Off host reverse radar system described in the present embodiment is provided with a radar system button switch 50, for controlling
The opening and closing of the switch 40.That is, system is opened by the radar system button switch 50 in the present embodiment
Control.The off host reverse radar system is additionally provided with work light 60, is used to indicate the off host reverse radar system
Whether open.Specifically, when pressing the radar system button switch 50, the work light 60 lights, the dereliction
Machine reverse radar system is opened, then clicks the radar system button switch 50, and the work light 60 extinguishes, the nothing
Host reverse radar system is closed.
It is also equipped with from sensor 20 in the front of vehicle in the present embodiment, vehicle can obtain front barrier in reversing simultaneously
The information for hindering object provides more prompting messages to the user.And the nothing is controlled by the radar system button switch 50
The opening and closing of host reverse radar system, the system that the present invention can be also opened in non-reversing so that user is using this
It is more convenient when the system of invention.
Fig. 3 is the flow chart of control method according to an embodiment of the invention.The control method is used for second reality
Example is applied, is included the following steps：
S100：Vehicle powers on, and the off host reverse radar system enters standby mode.
S200：Open the off host reverse radar system, the master reference 10 carries out System self-test, if self-test at
Work(, the warning device 30 pipe once, and the off host reverse radar system enters working condition, and in the work shape
State constantly self-test；Otherwise the warning device 30 does not pipe and indicates corresponding fault message.
The off host reverse radar system is opened in the present embodiment by way of pressing radar system button switch 50,
In other embodiments, it can also be opened in such a way that vehicle hangs reverse gear.
When fail self-test, if 10 failure of master reference, the instrument board or the digital video interactive show main sensing
10 failure of device, if from 20 failure of sensor, the instrument board or the digital video interactive show the event of corresponding sensor
Hinder information.
S300：Into after the working condition, the master reference 10 and it is described from sensor 20 acquire obstacle information.
S400：The master reference 10 analyzes acquired obstacle information and obtains the alarm command.
S500：The warning device 30 exports corresponding alarm signal according to the alarm command.
The alarm signal includes visual signal and voice signal, and the visual signal can pass through instrument board or multimedia
Interactive system is shown, the specific can be that the form of alarm segmental arc.The voice signal can be executed by table 1.
Table 1
Wherein, D is the air line distance of obstacle distance vehicle, and unit is centimetre.That is in obstacle distance vehicle
Intermediate distance and two lateral extents in different threshold ranges, the mode of voice signal expression is different.In the frequency that pipes
In the case of 2 hertz or 4 hertz, if the barrier far from the vehicle and when separate distance is more than first threshold, the
One threshold value can be 10 centimetres, and the warning device 30 is forbidden exporting voice signal, if the barrier is again close to described at this time
Second threshold can be 3 centimetres when vehicle and close distance are more than second threshold, then export the voice signal.It needs
Bright is that be not limited to the value of table 1 can be other numerical value in other unshowned embodiments by the D of the present invention, of the invention
First threshold and second threshold can be configured according to personal habits by human-computer interaction interface.
S600：When electronic brake system works or gear is in parking position switch, and the warning device 30 is forbidden exporting
Voice signal.
S700：When the speed of the vehicle is more than third threshold value, third threshold value can be 15km/h, and the off host is fallen
Vehicle radar system is stopped, if at this point, the speed reduces and is less than four threshold values again when, third threshold value can be 10km/
H, the off host reverse radar system are resumed work.
When too fast due to speed, timely warning device 30 is alarmed, and driver also has little time to make corresponding reaction, because
The system of this present invention is only applicable to low speed situations.It, can be to avoid speed on the left sides 15km/h by the rate limitation of step S900
When the right side is hovered, pass through the instrument board or the visual signal frequent switching of digital video interactive output.
So far, although those skilled in the art will appreciate that present invention has been shown and described in detail herein multiple shows
Example property embodiment still without departing from the spirit and scope of the present invention, still can according to the present disclosure directly
Determine or derive many other variations or modifications consistent with the principles of the invention.Therefore, the scope of the present invention is understood that and recognizes
It is set to and covers other all these variations or modifications.
Claims (10)
1. a kind of off host reverse radar system, including：
It is multiple from sensor, for acquiring obstacle information and being sent to master reference；
One master reference, for acquiring obstacle information, while it is concurrent to receive the obstacle information acquired from sensor
Send control instruction to described from sensor, the master reference analyzes the obstacle information of all acquisitions and obtains alarm command,
The alarm command is transmitted to warning device by the CAN bus of vehicle；And
Warning device, for receiving the alarm command and according to the alarm command output alarm signal.
2. off host reverse radar system according to claim 1, which is characterized in that the off host reverse radar system
Further include switch, the opening and closing for controlling the off host reverse radar system.
3. off host reverse radar system according to claim 2, which is characterized in that the switch is hung in the vehicle
The off host reverse radar system is controlled when shelves to open,
Optionally, the off host reverse radar system includes radar system button switch, the opening and closing for controlling the switch.
4. off host reverse radar system according to any one of claim 1-3, which is characterized in that the master reference
Has the function of System self-test.
5. the off host reverse radar system according to any one of claim 1-4, which is characterized in that the warning device
For human-computer interaction interface.
6. off host reverse radar system according to any one of claims 1-5, which is characterized in that the alarm signal
Including voice signal and visual signal,
Optionally, the voice signal is exported by instrument board or loud speaker, and the visual signal passes through the instrument board or more
Media interaction system exports.
7. a kind of control method for the off host reverse radar system described in claim any one of 1-6, feature exists
In including the following steps：
Vehicle powers on, and the off host reverse radar system enters standby mode；
The off host reverse radar system is opened, the master reference carries out System self-test；
If self-test success, the warning device pipes once, and the off host reverse radar system enters working condition, and
The working condition constantly self-test；Otherwise the warning device does not pipe and indicates corresponding fault message；
Into after the working condition, the master reference and it is the multiple from sensor acquire obstacle information；
The master reference analyzes acquired obstacle information and obtains the alarm command；
The warning device exports corresponding alarm signal according to the alarm command.
8. control method according to claim 7, which is characterized in that when electronic brake system works or gear exists
When parking position switch, the warning device is forbidden exporting voice signal.
9. control method according to claim 7 or 8, which is characterized in that carried out in the off host reverse radar system
When alarm, if the barrier is far from the vehicle and when separate distance is more than first threshold, the warning device is forbidden defeated
Go out voice signal, if the barrier is more than second threshold close to the vehicle and close distance again at this time, exports institute
State voice signal.
10. according to the control method described in any one of claim 7-9, which is characterized in that when the speed of the vehicle is more than
When third threshold value, the off host reverse radar system is stopped, if at this point, the speed reduces and is less than the 4th threshold value again
When, the off host reverse radar system is resumed work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810264693.3A CN108594789A (en) | 2018-03-28 | 2018-03-28 | A kind of off host reverse radar system and control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810264693.3A CN108594789A (en) | 2018-03-28 | 2018-03-28 | A kind of off host reverse radar system and control method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110879392A (en) * | 2019-11-29 | 2020-03-13 | 安徽江淮汽车集团股份有限公司 | Host-free radar ranging alarm method, device, circuit and storage medium |
| CN111016829A (en) * | 2019-12-26 | 2020-04-17 | 重庆集诚汽车电子有限责任公司 | Back-up radar rear vehicle body controller system |
| CN113048009A (en) * | 2019-12-27 | 2021-06-29 | 新疆金风科技股份有限公司 | Variable pitch control method, device and system of wind generating set |
| CN113240940A (en) * | 2021-05-07 | 2021-08-10 | 恒大恒驰新能源汽车研究院(上海)有限公司 | Automobile reminding monitoring method, electronic equipment and storage medium |
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Application publication date: 20180928 |