Embodiment
The embodiment of the present invention is described with reference to the accompanying drawings.In the following description, numerous specific details are set forth so as toPerson of ordinary skill in the field is set to be appreciated more fully and realize the present invention.But to those of skill in the artMember is it is evident that the present invention's realizes some that can not have in these details.It is however, it should be understood that of the inventionIt is not limited to introduced specific embodiment.Conversely, it may be considered that with any combination of features described below and key element comeImplement the present invention, regardless of whether they are related to different embodiments.Therefore, aspect, feature, embodiment and advantage below is onlyIt is illustrative, and key element or the restriction of claim are not to be taken as, unless clearly proposing in the claims.
The present invention realizes opening door of vehicle alarm using vehicle-mounted millimeter wave radar.Millimetre-wave radar refers to be operated in millimeter waveThe radar of wave band, its to launch wavelength around about 1-10mm, frequency about in 30G-300GHz (gigahertz (GHZ)), there is certain waveThe electromagnetic wave of shape and modulation system, and calculate ambient by receiving and analyzing electromagnetic wave signal that surrounding objects reflectDistance, direction, speed and size of body etc..According to the waveform of the electromagnetic wave of millimetre-wave radar transmission and modulation system and to anti-The processing mode of signal is penetrated, millimetre-wave radar may include the classes such as mm pulse radar, frequency modulated continuous wave radar, spread spectrum radarType.
Fig. 1 shows a kind of structure diagram of exemplary on board millimetre-wave radar for use in the present invention.The vehicle-mounted milliMetre wave radar 100 can be any kind of millimetre-wave radar.As shown in fig. 1, which can usually wrapInclude transmitting and receiving device 101, Radar Signal Processing module 102 and programmable controller 103.
The transmitting and receiving device 101 usually may include voltage controlled oscillator (VCO), transmitting antenna and reception antenna, putComponent or the circuits such as big device, power splitter, frequency mixer, it is used to producing and launching millimeter-wave signal, and receives by target objectThe return signal reflected, and provide it to Radar Signal Processing module 102 and handled.
The signal processing module 102 usually can be achieved as digital signal processor (DSP), and may include miscellaneous part orCircuit, it is used to handle the return signal from transmitting and receiving device 101, mainly reduces various interference, includingNoise, clutter, the motion compensation etc. of object.In addition, the signal processing module 102 can be also used for being calculated according to return signalThe distance and translational speed of target object.
Specifically, distance of the target object away from radar can be calculated according to the following formula：
R=C*Tr/ 2,
Wherein, R represents distance of the target object away from radar, and C represents the light velocity, TrRepresent return signal relative to transmitting signalTime delay.
According to the Doppler effect of electromagnetic wave, when radar signal runs into mobile target object, frequency return signal meetingThe respective change according to the translational speed of target object.For the target object towards radar movable, the frequency of return signalRate can accordingly increase；And for the target object away from radar movable, the frequency of return signal can accordingly reduce.Therefore,Translational speed of the target object relative to radar can be calculated relative to the frequency change of transmitting signal according to return signal, itsFormula is:
Vr=C*fd/2*f0,
Wherein, VrFor the translational speed of target object, C is the light velocity, fdFrequency for return signal relative to transmitting signalDifference, f0To launch the frequency of signal.
The programmable controller 103 can by microcontroller (MCU), field programmable gate array (FPGA) or any otherProgrammable processing unit realizes, its can be used for by return signal is carried out signature analysis obtained from return signal target and itsThe parameters such as partial effective scattering area (RCS), are identified according to the parameters on target object such as effective scattering area.Such as abilityKnown to field technique personnel, size, planform, material and radar wavelength of RCS and target object etc. are related, and target object leads toThe synthesis of a variety of basic geometries can often be regarded as, different target objects has the combination of different RCS values.Therefore, lead toThe combination that processing return signal obtains the RCS values of target object is crossed, target object can be identified.Specifically, mesh is calculatedThe formula of the RCS of mark object or part thereof is：
Wherein, PrFor the power of return signal, PtTo launch the power of signal, R is distance of the target object away from radar, and λ isSignal wavelength, G are radar gain, LrFor loss factor, σ is the RCS of target object.
By calculating the parameter such as target object and its partial RCS, and by it with the various objects that are stored in database andThe parameters such as the RCS of its part are compared, it is possible to which target object is identified.The various objects stored in the databaseAnd its parameter such as partial RCS can be detected and obtained for various objects using the vehicle-mounted millimeter wave radar in advance's.
The advantages of vehicle-mounted millimeter wave radar, includes：From the influence at weather condition and night, and can detect farther outThe object of distance (such as more than 100 meters)；Angle of scattering is smaller, therefore can detect direction of the object relative to vehicle；Can be withThe property of object is judged, so that object be identified.
It should be noted that the only vehicle-mounted millimeter wave radar of embodiment for use in the present invention of above description and diagramTopology example, rather than the limitation to vehicle-mounted millimeter wave radar for use in the present invention.The car of embodiment for use in the present inventionOther structures or feature can be had by carrying millimetre-wave radar, such as including more, less or different component or circuit, be had notSame working mechanism etc..
Referring now to Fig. 2, it illustrates opening door of vehicle warning system 200 according to an embodiment of the invention.Such as institute in Fig. 1Show, which includes：Vehicle-mounted millimeter wave radar 100, it is configured as：By launching to vehicle peripheryMillimeter-wave signal, and the millimeter-wave signal reflected by vehicle periphery object is received and handles, to detect the movement of vehicle peripheryDistance of the object away from vehicle and the speed close to vehicle；Control module 201, it is configured as：In response to detecting that car door willOpen, whether will be reached according to distance of the mobile object away from vehicle and close to mobile object described in the velocity estimated of vehicleCar door；And in response to judging that mobile object will reach car door, export warning information.
The embodiment of the present invention carries out the detection of vehicle periphery mobile object as a result of millimetre-wave radar, therefore hasDetection range is remote, accuracy of detection and accuracy are high, reflection speed is fast, the influence from weather and night and can be to motive objectsThe advantages that body is identified.
The vehicle-mounted millimeter wave radar 100 can also may be used as shown in fig. 1 with vehicle-mounted millimeter wave radar described aboveTo be the vehicle-mounted millimeter wave radar of other structures or type.The vehicle-mounted millimeter wave radar 100 can have one or more, andIt may be mounted at the appropriate locations such as the top of vehicle, afterbody, sidepiece.The vehicle-mounted millimeter wave radar 100 can be existing carMillimetre-wave radar is carried, or can be the improved vehicle-mounted millimeter wave radar on the basis of existing vehicle-mounted millimeter wave radar,Or can also be the vehicle-mounted millimeter wave radar of redesign and manufacture.
In certain embodiments, the vehicle-mounted millimeter wave radar 100 passes through vehicle bus, special circuit etc. and the controlModule 201 is connected, so as to receive instruction etc., such as enabled instruction from control module 201, and can be to the control module201 send the information such as the position, direction, translational speed on detected mobile object.
In certain embodiments, the vehicle-mounted millimeter wave radar 100 can receive the startup from control module 201Start after instruction and vehicle periphery object is detected.The control module 201 can be being detected (such as by following carsBody control unit) car door sends the enabled instruction when will open to the vehicle-mounted millimeter wave radar 100.In other implementationsIn example, the vehicle-mounted millimeter wave radar 100 can start after vehicle start-up, so as to sustainably be carried out to vehicle periphery objectDetection.
In certain embodiments, the vehicle-mounted millimeter wave radar 100 can be further by handling by vehicle periphery objectMobile object is identified in the millimeter-wave signal of reflection；Correspondingly, the control module 201, which can be exported further, is knownThe information of other mobile object.
Specifically, for example, the vehicle-mounted millimeter wave radar 100 can be by by for the radar detection data of mobile objectThe radar detection data of variety classes object with being stored in database is compared to that mobile object is identified.
The database is for example storable in what is be connected with the vehicle-mounted millimeter wave radar 100 or the control module 201In memory.For example, can in advance using the vehicle-mounted millimeter wave radar 100 for such as motorcycle, battery truck, bicycle,The various movements such as automobile, pedestrian, wall, pillar and stationary object are tested, and obtain corresponding radar detection data, i.e., by pairThe millimeter-wave signal that the object returns carries out corresponding analysis and processing, obtains the return of the property and feature that reflect the objectThe parameters such as the RCS of signal, so as to form the database of the radar detection data of the variety classes object.
In this manner it is possible to by by the radar detection data of the mobile object of current detection (for example, current return signalRCS) compared with the radar detection data (RCS of the return signal of variety classes object) stored in database, to identifyWhich kind of object the mobile object of current detection is.
The control module 201 can have adequate information disposal ability by microprocessor, microcontroller etc. are anyProcessing unit realize.The processing unit usually may include memory or be connected with memory, be deposited in the memoryContain for being configured such that it performs the software program and data of corresponding operating to processing unit, the processing unit can lead toCross in load store device the program stored and data perform its operation.In further embodiments, the control module 201 can be withIntegrated with the vehicle-mounted millimeter wave radar 100, such as be integrated in vehicle-mounted millimeter wave radar 100 PLC technology of itselfIn device.The control module 201 can be implemented as a vehicle-mounted electronic control unit (ECU) in yet other embodiments, it can lead toVehicle bus is crossed to communicate with the vehicle-mounted millimeter wave radar 100.
In certain embodiments, the control module 201 can be connected with vehicle bus (for example, CAN bus), so as toTo communicate with other onboard systems.For example, the control module 201 can be received by vehicle bus comes from Body ControlThe signal that the car door of unit will be opened.The contact that the vehicle body control unit can for example include being installed at door handle passesSensor, in this way, when occupant rotates door handle door opening, the feeler produces corresponding sense signal, so thatVehicle body control unit can produce the signal that corresponding car door will be opened, and send it to vehicle bus, so as to by describedControl module 201 receives.
In certain embodiments, the control module 201 can be according to from the vehicle-mounted millimeter wave radar 100Distance of the mobile object away from vehicle and time up to vehicle is anticipated to calculate the mobile object close to the speed of vehicle, and canWith the moving direction with reference to the mobile object from the vehicle-mounted millimeter wave radar 100, to judge that the mobile object isIt is no to reach car door.If for example, the time that the mobile object calculated is anticipated up to vehicle is less than a predetermined threshold(such as 5 seconds), and then may determine that described on the extended line of the moving direction of the mobile object during vehicle openingMobile object will reach car door, i.e. mobile object will bump against with car door.At this time, the control module 201 can export policeNotify breath, to remind occupant.
In certain embodiments, the control module 201 can be by the vehicle bus by caused warning informationBe output in the center display of vehicle, middle rearview mirror, head-up-display system, instrument board, loudspeaker any one or it is moreIt is a.
In certain embodiments, the control module 201 for being configured as output warning information is configured to：BaseIt is raw in distance of the mobile object detected away from vehicle and the speed close to vehicle, and the property of the mobile object identifiedInto virtual scene video, wherein virtual scene rabbit virtual scene of the mobile object close to the vehicle；And the virtual scene video is output to the center display of vehicle by vehicle bus or middle rearview mirror is shown.
For example, the structure virtual scene can be previously stored in the memory being connected with the control module 201Needed for video on the environmental element such as all kinds of movements and stationary object, the vehicle and road, building image and regardFrequency element.The control module 201 is receiving distance of the mobile object from the millimetre-wave radar 100 away from vehicle and is connecingAfter the information of the speed of nearly vehicle and the property of the mobile object identified, it can be obtained from the memory on instituteThe mobile object species of identification and its image and video elementary of environmental element, using described image and video elementary and according to instituteState distance of the mobile object away from vehicle and the speed generation virtual scene video close to vehicle.The virtual scene video can be with classThe mobile object in reality is similar to close to the scene of vehicle, such as it can be included with the distance and with the translational speedThe image and video of the mobile mobile object, the vehicle and surrounding environment (such as road, building).
Carried out by the way that the virtual scene video is output in center display or middle rearview mirror (intelligent back vision mirror)It has been shown that, can more intuitively remind the mobile object of occupant's vehicle periphery, so as to be effectively prevented from risk of collision.Fig. 3 showsShow the virtual scene video shown at the center display of vehicle to meaning property, exist wherein having reproduced the motorcycle after vehicleWith specific speed constantly close to the scene of vehicle on road.
In further embodiments, the control module 201 for being configured as output warning information is configured to：By distance of the mobile object detected away from vehicle and close to the velocity information of vehicle and the property of the mobile object identifiedInformation is output to vehicle-mounted head-up-display system by vehicle bus so that front windshield of the vehicle-mounted head-up-display system in vehicleShow the mobile object close to the distance and velocity information of the pattern of vehicle, and mobile object on glass or automobile door glass.
As known to persons skilled in the art, vehicle-mounted head-up-display system generally includes image generation unit and projection is singleMember, and it is used as transparent projection display screen by the use of the front windshield or automobile door glass of vehicle.Image generation unit generationImage is projected by projecting cell and shown on front windshield or automobile door glass, in this way, occupant need not bow justShown image and the actual scenery of front side or side can be seen at the same time.
The embodiment of the present invention shows movement by using vehicle-mounted head-up-display system on windshield or automobile door glassThe pattern of object proximity vehicle and the distance of mobile object and velocity information, the mobile object close to vehicle pattern for exampleCan be in the form of animation show mobile object constantly to the close pattern of vehicle, so can more observably remind vehicle occupantMember, so as to be effectively prevented from risk of collision.Fig. 4 A schematically show the motive objects shown on the front windshield of vehicleBody is close to the pattern of vehicle and the distance and velocity information of mobile object；Fig. 4 B schematically show the car door glass in vehicleThe mobile object shown on glass is close to the pattern of vehicle and the distance and velocity information of mobile object.
In a further embodiment, the control module 201 for being configured as output warning information is further configuredFor：By distance of the mobile object detected away from vehicle and the velocity information close to vehicle and the car door body that will be openedPart information is output to vehicle-mounted head-up-display system by vehicle bus so that the vehicle-mounted head-up-display system will be beaten describedShow the mobile object close to the pattern of vehicle, and the distance of mobile object and speed letter on the automobile door glass for the car door openedBreath.For example, if control module 201 knows that the left front door of vehicle will be opened by vehicle bus and vehicle body control unit,So that the vehicle-mounted head-up-display system shown on the automobile door glass of left front door the mobile object close to vehicle pattern withAnd the distance and velocity information of mobile object；If control module 201 knows vehicle by vehicle bus and vehicle body control unitRight-rear-door will open, then so that the vehicle-mounted head-up-display system motive objects are shown on the automobile door glass of right-rear-doorBody is close to the pattern of vehicle and the distance of mobile object and velocity information, etc..In this way, when occupant wants to open someWhen car door is got off, shown information can be more easily seen from the glass for vehicle window of the car door, so as to be effectively prevented from touchingHit risk.
In certain embodiments, the control module 201 for being configured as output warning information is configured to：WillDistance of the mobile object detected away from vehicle and meter panel of motor vehicle is output to by vehicle bus close to the velocity information of vehicle,So that the meter panel of motor vehicle shows the mobile object close to the distance and speed of the alert icon of vehicle, and mobile objectInformation.By by the mobile object close to the simple information such as the alert icon of vehicle and the distance of mobile object and velocity informationIt is shown on meter panel of motor vehicle, the instrument board being equipped with most vehicle can be utilized, so as to be achieved at low cost to in-carThe warning of personnel.
In certain embodiments, the control module 201 for being configured as output warning information is configured to：RootThe time at mobile object arrival car door is calculated according to distance of the mobile object away from vehicle and close to the speed of vehicle；And in response toThe time of the calculating is less than or equal to threshold value, exports enabling signal to horn for vehicle by vehicle bus so that horn for vehicleSound the alarm.
The threshold value can be that system or user are pre-set.For example, the threshold value could be provided as 3 seconds, in this way, such asThe time that fruit control module 201 calculates mobile object arrival car door is less than 3 seconds, then can be exported to horn for vehicle and start letterNumber so that horn for vehicle sounds the alarm, so that stronger alarm is sent to occupant, more effectively to avoid bumping against windDanger.
Technical characteristic in the various embodiments described above of the present invention can be combined in a suitable manner.It is for example, described in vehicleCenter display or middle rearview mirror in show the technical characteristic, described in vehicle-mounted head-up-display system of the information warningThe technical characteristic and/or the technical characteristic that the information warning is shown in instrument board for showing the information warning canTo be combined with the technical characteristic to be sounded the alarm by horn for vehicle.For example, when the motive objects of the control module 201 calculating, can be first behind center display, centre when body anticipates that the time up to vehicle is less than larger first threshold (such as 5 seconds)Information warning is shown in visor, head-up-display system or instrument board；And when the mobile object that the control module 201 calculates is expectedWhen the time of arrival vehicle is less than less second threshold (such as 3 seconds), it can be sounded the alarm by horn for vehicle, to remindThe collision risk of occupant's bigger.
, can be with when 201 judgment object of control module will reach car door in addition, in some embodiments of the inventionThe instruction of locked car door is further sent to vehicle body control unit, more efficiently to avoid bumping against risk.The Body ControlUnit after the scheduled time or can receive unlock instruction that occupant sends (for example, passing through vehicle centre consoleEtc. specific button send releasing instruction) after, car door is unlocked.
Opening door of vehicle warning system according to an embodiment of the invention is described above by reference to attached drawing, it is noted that withUpper description is merely illustrative, rather than limitation of the present invention.In other embodiments of the invention, the system can have it is more,Less or different module, and connection between each module, include and the relation such as function can be with described and diagram difference.For example, in certain embodiments, the vehicle-mounted millimeter wave radar 100 and the control module 201 can be integrated into individual module.AgainFor example, in certain embodiments, the partial function in the control module 201 can be completed by single component, such as instituteState generation and show that the function of virtual scene video can be completed by a single virtual reality module.In another example at someIn embodiment, the opening door of vehicle warning system 200 may also include the vehicle body control unit, center display, middle backsightAny one or more in mirror, head-up-display system, instrument board, horn for vehicle, or may also include the aobvious of the system-specificShow device or loudspeaker, etc..It is all these to change within all in the scope of the present invention.
Although above by reference to the attached drawing embodiment that the invention has been described, it will be appreciated by those skilled in the art that above descriptionIt is merely illustrative, rather than limitation of the present invention.Various modifications and deformation can be carried out to the embodiment of the present invention, and still fallen withinWithin the spirit and scope of the present invention, the scope of the present invention is only determined by the appended claims.