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Multiple sensor fused reversing radar blind area ranging method

A multi-sensor fusion and reversing radar technology, which is applied in the field of vehicle radar, can solve the problems of low accuracy and high acceleration noise, and achieve the effect of overcoming inaccurate positioning

Pending Publication Date: 2022-02-01
NANJING AUTOMOBILE GROUP CORP +1
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the acceleration noise obtained by the inertial element at low speed is more, and the accuracy is not high

Method used

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  • Multiple sensor fused reversing radar blind area ranging method
  • Multiple sensor fused reversing radar blind area ranging method
  • Multiple sensor fused reversing radar blind area ranging method

Examples

Experimental program
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Effect test

Embodiment Construction

[0051] The present invention will be further described below in conjunction with the accompanying drawings.

[0052] This embodiment proposes a multi-sensor fusion reversing radar blind zone ranging method, including the following specific steps:

[0053] 1) Taking the scene where a logistics truck is reversing and approaching the unloading platform as an example, after the vehicle starts reversing, the MCU obtains the ultrasonic radar ranging data through the CAN bus, and constructs a data set of the vehicle reversing distance Y and time according to the initial distance length;

[0054] 2) MCU obtains inertial component data and wheel speed sensor pulse data from ESP system through CAN bus, and obtains longitudinal acceleration and vehicle speed after processing the two signals;

[0055] 3) Carry out Kalman filter to the longitudinal acceleration and vehicle speed obtained in step 2) to obtain the vehicle travel distance X, and construct the data set of vehicle travel distance...

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Abstract

The invention relates to a multiple sensor fused reversing radar blind area ranging method, which comprises the following steps: when a vehicle backs up, carrying out data acquisition and calculation through a ranging system, and finally obtaining a distance observation value from a logistics vehicle to an end point in an ultrasonic sensor blind area. According to the invention, the problem of low ranging accuracy in the blind area of an ultrasonic sensor is solved, and the problem of inaccurate positioning of the inertial element under the low-speed condition is overcome. The ultrasonic sensor is used for compensating data of an inertial element and a wheel speed sensor, so that the device can be applied to distance observation in a blind area of the reversing radar. Through fusion of multiple sensors, accurate ranging from 0-5 meters to an obstacle is realized, so that the problem of poor application effect of a reversing radar in scenes requiring accurate distance in the blind area, such as parking of a logistics truck to an unloading platform, is solved.

Description

technical field [0001] The invention relates to a reversing radar blind zone ranging method, in particular to a multi-sensor fusion reversing radar blind zone ranging method, which belongs to the technical field of vehicle radar. Background technique [0002] In the current reversing assistance system, ultrasonic radar is generally used for distance measurement, combined with rear-view radar and voice broadcast system to provide assistance for the driver in reversing. Compared with other non-contact ranging technologies, such as millimeter-wave radar, lidar, binocular camera, etc., ultrasonic sensors have low cost, good environmental adaptability, low requirements on the computing power of the controller, and simple ranging methods. Advantages, it can be better applied in the range of 0.25 to 5 meters. A detection of an ultrasonic sensor includes three stages of wave sending, delay, and receiving. Usually, the transit time detection method is used, that is, the timer is sta...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S15/931G01S15/08G01S15/86
CPCG01S15/931G01S15/08G01S15/86
Inventor 陈海云朱剑封长江宋士鹏马世典韩牟
Owner NANJING AUTOMOBILE GROUP CORP
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