CN206710598U - Integrated vehicle-installed obstacle detection and identification device - Google Patents
Integrated vehicle-installed obstacle detection and identification device Download PDFInfo
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- CN206710598U CN206710598U CN201720500630.4U CN201720500630U CN206710598U CN 206710598 U CN206710598 U CN 206710598U CN 201720500630 U CN201720500630 U CN 201720500630U CN 206710598 U CN206710598 U CN 206710598U
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- obstacle detection
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- identification device
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Abstract
The utility model provides integrated vehicle-installed obstacle detection and identification device, launches electromagnetic wave using millimetre-wave radar and analyzes echo-signal, obtains Obstacle Position and speed.Image within the vision is obtained using camera, and pattern match is carried out near the barrier that radar obtains, cognitive disorders species type, and obtain its profile, size.Of the present utility model integrated and Pixel-level Combined design can be improved by the system reliability under the degree of accuracy of camera calibration barrier and bad weather, and can the position of acquired disturbance thing, speed, type, profile information, compared to existing vehicle-installed obstacle detection device, the utility model expands detection range, the speed of barrier can be obtained, the accuracy rate of severe weather conditions is improved, reduces operand.
Description
Technical field
It the utility model is related to automobile active safety technical field, more particularly to the detection of integrated vehicle-installed obstacle
And identification device.
Background technology
Existing vehicle-mounted obstacle detection system mainly has based on camera and based on radar two kinds.
Vehicle-mounted obstacle detection system based on camera obtains image within the vision by visible ray or infrared camera, and
The obstacle and its positional information in image are found by certain method for mode matching.The shortcomings that this method, is measurement distance
Closely, obstacle velocity information can not be directly obtained, availability reduces under severe weather conditions, and operand is larger, compared to
Detecting system reliability based on radar is low.
Barrier in laser, infrared or millimetre-wave radar acquisition detection zone is passed through based on the obstacle detection system of radar
Positional information.The shortcomings that this method, is the type of None- identified barrier, can not accurate description barrier size, wheel
It is wide.
Millimetre-wave radar and camera are integrated into a set of obstacle detection system by the utility model, installed in Chinese herbaceous peony bumper
Top.The potential target of thresholding is crossed with millimetre-wave radar echo mixed frequency signal one-time detection first, measure barrier position and
Speed, meanwhile, once cross threshold point cloud and project to camera focal plane formation area-of-interest, enter row mode in the areas adjacent
Match somebody with somebody, carry out barrier confirmation, judge the type of barrier.The integrated and Pixel-level Combined design can reduce false-alarm, obtain
While obtaining barrier accurate location, speed, cognitive disorders species type, while reduce the computing of image processing mode matching algorithm
Amount, improve processing speed.
Utility model content
The purpose of this utility model is to provide integrated vehicle-installed obstacle detection and identification device, solved existing
Shortcoming existing for technology, the system reliability under the degree of accuracy and bad weather by camera calibration barrier is improved, and can obtained
The position of barrier, speed, type, profile information.
The utility model adopts the following technical scheme that realization：
Integrated vehicle-installed obstacle detection and identification device, comprising millimetre-wave radar sensor, monocular camera passes
Process plate is assessed in sensor, Radar Signal Processing plate, picture signal process plate, fusion.
The millimetre-wave radar sensor is located at Radar Signal Processing front edge of board, and is attached thereto.For launching certain wave
The radiofrequency signal of shape, and receive the corresponding echo-signal that barrier reflects.After being mixed, it is orthogonal to obtain I, Q two-way
Intermediate-freuqncy signal, it is sent to Radar Signal Processing plate.
The Radar Signal Processing plate is located at front end of the rear end of millimetre-wave radar sensor with merging assessment process plate, and
It is attached thereto.For analyzing echo-signal, the barrier and its position, velocity information in detection zone are obtained, is sent to fusion
Assess process plate.
The monocular camera sensor is located at picture signal processing front edge of board, and is attached thereto.For obtaining field range
Interior image, and send the picture signal process plate of rear end to.
Described image signal-processing board is located at the rear end of monocular camera sensor, is mainly used in receiving monocular camera sensor
Collection image, the barrier and its species in image are analyzed according to pattern matching algorithm, the position of barrier is obtained and believes with type
Breath.In addition, picture signal process plate is according to Obstacle Position, the velocity information that can also receive Radar Signal Processing plate, herein
On the basis of carry out pattern match, reduce operand.
Rear end and automotive electronics that process plate is located at Radar Signal Processing plate and picture signal process plate are assessed in the fusion
The front end of control unit (Electronic control unit, ECU).The barrier obtained for merging Radar Signal Processing plate
Hinder thing speed and position, the obstacle identity and profile obtained with picture signal process plate, obtain all obstacles in detection zone
The position of thing, speed, type, profile.And combine the degree of danger of the vehicle running state data assessment barrier in ECU.Most
The data of all barriers are sent to ECU afterwards, adjust traveling state of vehicle.
The radar sensor by transmitting antenna, receive antenna, PLL circuit, frequency mixer, VCO voltage controlled oscillators, filtered electrical
Road, Waveform generator, amplifier composition.
The Radar Signal Processing plate by power module, antenna connector, a/d converter and processor group into.
The monocular camera sensor is made up of optical element and image capture device.
Described image signal-processing board is made up of network interface and processor and storage device.
The fusion is assessed process plate and is made up of processor and the storage device being attached thereto.
Advantageous effects of the present utility model are：
The utility model provides integrated vehicle-installed obstacle detection and identification device, is launched using millimetre-wave radar
Electromagnetic wave simultaneously analyzes echo-signal, obtains Obstacle Position and speed.Image within the vision is obtained using camera, and in thunder
The barrier reached nearby carries out pattern match, cognitive disorders species type, and obtains its profile, size.It is of the present utility model
Integrated and Pixel-level Combined design can be improved by the system under the degree of accuracy of camera calibration barrier and bad weather
Reliability, and the position of energy acquired disturbance thing, speed, type, profile information, set compared to the detection of existing vehicle-installed obstacle
Standby, the utility model expands detection range, can obtain the speed of barrier, improves the accuracy rate of severe weather conditions, drop
Low operand.
Brief description of the drawings
Fig. 1 uses schematic diagram to be of the present utility model；
Fig. 2 is structural representation figure of the present utility model.
Embodiment
By the following description to embodiment, it will more contribute to public understanding the utility model, but can't should
Specific embodiment given by applicant is considered as the limitation to technical solutions of the utility model, it is any special to part or technology
Conversion that the definition of sign is changed and/or made to overall structure form and immaterial is regarded as technology of the present utility model
The protection domain that scheme is limited.
The present embodiment provides integrated vehicle-installed obstacle detection and identification device, and structure chart is as shown in Figure 2, comprising
Millimetre-wave radar sensor 1, monocular camera sensor 10, Radar Signal Processing plate 13, picture signal process plate 25, fusion are assessed
Process plate 36.
The millimetre-wave radar sensor 1 is located at the front end of Radar Signal Processing plate 13, and is attached thereto.It is specific for launching
The radiofrequency signal of waveform, and receive the corresponding echo-signal that barrier reflects.After being mixed, it is orthogonal to obtain I, Q two-way
Intermediate-freuqncy signal, be sent to Radar Signal Processing plate 13.
Before the Radar Signal Processing plate 13 is located at the rear end of millimetre-wave radar sensor 1 and merges and assess process plate 36
End, and be attached thereto.For analyzing echo-signal, the barrier and its position, velocity information in detection zone are obtained, is sent to
Process plate 36 is assessed in fusion.
The monocular camera sensor 10 is located at the front end of picture signal process plate 25, and is attached thereto.For obtaining the visual field
In the range of image, and send the picture signal process plate 25 of rear end to.
Described image signal-processing board 25 is located at the rear end of monocular camera sensor 10, is mainly used in receiving monocular camera biography
The collection image of sensor, barrier and its species in image are analyzed according to pattern matching algorithm, obtain position and the class of barrier
Type information.In addition, picture signal process plate 25 is according to Obstacle Position, the speed letter that can also receive Radar Signal Processing plate 13
Breath, pattern match is carried out on this basis, reduce operand.
Rear end and vapour that process plate 36 is located at Radar Signal Processing plate 13 and picture signal process plate 25 are assessed in the fusion
The front end of car electronic control unit (Electronic control unit, ECU) 49.For merging Radar Signal Processing plate
13 obtained barrier speed and position, the obstacle identity and profile obtained with picture signal process plate 25, obtain detection zone
The position of all barriers, speed, type, profile in domain.And combine the vehicle running state data assessment barrier in ECU
Degree of danger.The data of all barriers are finally sent to ECU, adjust traveling state of vehicle.
The present embodiment is arranged on Chinese herbaceous peony bumper top position as shown in Figure 1 when using, height is kept and ground at least 50
Centimetre, horizontal level should be located at vehicle center.It should ensure that detector plane is vertical with vehicle axis during installation, maximum deviation angle
Degree should be less than 1 degree.
The integrated vehicle-installed obstacle detection of the present embodiment and the workflow of identification device are as follows：
1）The data acquisition of radar sensor 1：The Waveform generator 8 of millimetre-wave radar sensor 1 receives Radar Signal Processing
The waveform parameter that plate 13 is sent by antenna connector 24, waveform corresponding to generation, it is sent to voltage controlled oscillator (Voltage-
controlled oscillator, VCO)6.The frequency signal according to corresponding to producing waveform of voltage controlled oscillator 6, by phaselocked loop
(Phase-locked loops) 4 frequencys multiplication are radiofrequency signal, are launched by transmitting antenna 2.Receive antenna 3 and receive barrier reflection
Echo-signal, with radiofrequency signal by frequency mixer 5 be mixed after, obtain intermediate-freuqncy signal.Circuit 7 filters out intermediate-freuqncy signal after filtering
Clutter, after amplifying by amplifier 9, it is sent to the antenna connector 17 of Radar Signal Processing plate 13.
2）Radar Signal Processing plate 13 analyzes echo-signal：Radar Signal Processing plate 13 receives IQ by antenna connector 17
Two-way analog signal, respectively after a/d converter 18,22, turn into data signal and handled by processor.It is connected with processor
Flash16 stores the program code of signal Analysis, and DDR3 RAM 15 are used to store data in calculating process etc..Processor carries
The Obstacle Position and velocity information in digital intermediate frequency signal are taken, and fusion assessment is sent to by privately owned CAN interface 23 and handled
Plate 36.Picture signal process plate 25 can also be sent to by serial line interface 21 (such as RS-485) simultaneously.
3）The data acquisition of monocular camera sensor 10：Monocular camera sensor is obtained within sweep of the eye by optical element 11
Image, and stored by image capture device 12 and be sent to picture signal process plate 25.
4）Picture signal process plate 25 analyzes view data：Picture signal process plate 25 is received by network interface 30 (RJ45) to be schemed
As data.The storage device of processor 28 includes but is not limited to NAND Flash 27, available for storage image data；NOR
Flash 34, applied for card hardware information and configuration parameter available for storage；EEPROM 32, available for store program codes with starting
Parameter.DDR3 RAM 35, available for the data and variable in storage computation process.Processor 28 is calculated by some pattern match
Method analyzes view data, obtains Obstacle Position, profile and the type in image.Processor 28 can also pass through serial line interface 29
The obstacle information of Radar Signal Processing plate is received, matches barrier on this basis, reduces amount of calculation.Processor 28 will obtain
Obstacle Position, profile, type that excessively privately owned CAN interface 31 be sent to fusion and assess process plate 36.
5）Fusion assessment process plate 36 merges, assesses obstacle information：Fusion assess process plate 36 include processor 42 with
And the storage device being attached thereto.Storage device includes and is not limited to Flash 43, DDR3 RAM 45 and EEPROM 47.Processing
Device 42 is powered by power module 37；Clock signal is provided by real-time clock module 38；House dog 39 (Watchdog) provides event
Function is restarted in barrier detection；The temperature of process plate 36 is assessed in the monitoring fusion of temperature monitoring 40.Processor 28 is received by privately owned CAN41
The Obstacle Position of Radar Signal Processing plate 13, velocity information, the barrier of picture signal process plate 25 is received by privately owned CAN 44
Hinder object location, profile, type information.The barrier data of two kinds of sensors are merged by certain blending algorithm, obtain detecting model
Enclose the positions of interior all barriers, speed, profile, type.Travelled with reference to the vehicles sent by vehicle CAN bus 48 of ECU 49
Information, assess the degree of danger of all barriers.Finally by the position of all barriers, speed, profile, type, degree of danger
ECU is sent to by vehicle CAN bus 48, adjusts vehicle running state.
The present embodiment launches electromagnetic wave using millimetre-wave radar and analyzes echo-signal, obtains Obstacle Position and speed.
Image within the vision is obtained using camera, and pattern match is carried out near the barrier that radar obtains, cognitive disorders thing
Type, and obtain its profile, size.Of the present utility model integrated and Pixel-level Combined design can be improved by phase machine examination
The system reliability surveyed under the degree of accuracy and bad weather of barrier, and the position of energy acquired disturbance thing, speed, type, profile
Information, compared to existing vehicle-installed obstacle detection device, the utility model expands detection range, can obtain the speed of barrier
Degree, improves the accuracy rate of severe weather conditions, reduces operand.
Certainly, the utility model can also have other various embodiments, without departing substantially from the utility model spirit and its essence
In the case of, those skilled in the art can make various corresponding changes and deformation, but this according to the utility model
A little corresponding changes and deformation should all belong to the scope of the claims appended by the utility model.
Claims (6)
1. integrated vehicle-installed obstacle detection and identification device, include millimetre-wave radar sensor, monocular camera sensing
Process plate is assessed in device, Radar Signal Processing plate, picture signal process plate, fusion, it is characterised in that：The millimetre-wave radar sensing
Device is located at Radar Signal Processing front edge of board, and is attached thereto；The Radar Signal Processing plate is located at millimetre-wave radar sensor
Rear end assesses the front end of process plate with merging, and is attached thereto；Before the monocular camera sensor is located at picture signal process plate
End, and be attached thereto；Described image signal-processing board is located at the rear end of monocular camera sensor；Process plate position is assessed in the fusion
In the rear end of Radar Signal Processing plate and picture signal process plate and vehicle electronic control unit (Electronic control
Unit, ECU) front end.
2. integrated vehicle-installed obstacle detection according to claim 1 and identification device, it is characterised in that：It is described
Radar sensor by transmitting antenna, receive antenna, PLL circuit, frequency mixer, VCO voltage controlled oscillators, filter circuit, waveform generate
Device, amplifier composition.
3. integrated vehicle-installed obstacle detection according to claim 1 and identification device, it is characterised in that：It is described
Radar Signal Processing plate by power module, antenna connector, a/d converter and processor group into.
4. integrated vehicle-installed obstacle detection according to claim 1 and identification device, it is characterised in that：It is described
Monocular camera sensor is made up of optical element and image capture device.
5. integrated vehicle-installed obstacle detection according to claim 1 and identification device, it is characterised in that：It is described
Picture signal process plate is made up of network interface and processor and storage device.
6. integrated vehicle-installed obstacle detection according to claim 1 and identification device, it is characterised in that：It is described
Fusion is assessed process plate and is made up of processor and the storage device being attached thereto.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720500630.4U CN206710598U (en) | 2017-05-08 | 2017-05-08 | Integrated vehicle-installed obstacle detection and identification device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720500630.4U CN206710598U (en) | 2017-05-08 | 2017-05-08 | Integrated vehicle-installed obstacle detection and identification device |
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| Publication Number | Publication Date |
|---|---|
| CN206710598U true CN206710598U (en) | 2017-12-05 |
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ID=60466629
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720500630.4U Expired - Fee Related CN206710598U (en) | 2017-05-08 | 2017-05-08 | Integrated vehicle-installed obstacle detection and identification device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108363044A (en) * | 2018-02-12 | 2018-08-03 | 安徽江淮汽车集团股份有限公司 | A kind of data acquisition of BSD scenario buildings and analysis system |
| CN109849782A (en) * | 2017-11-30 | 2019-06-07 | 比亚迪股份有限公司 | Virtual panoramic auxiliary driving device and its display methods, vehicle |
| CN110287832A (en) * | 2019-06-13 | 2019-09-27 | 北京百度网讯科技有限公司 | High-Speed Automatic Driving Scene barrier perception evaluating method and device |
| WO2019238127A1 (en) * | 2018-06-15 | 2019-12-19 | 杭州海康威视数字技术股份有限公司 | Method, apparatus and system for measuring distance |
| CN110596696A (en) * | 2018-06-13 | 2019-12-20 | 通用汽车环球科技运作有限责任公司 | Apparatus and method for improved radar beamforming |
| CN111027381A (en) * | 2019-11-06 | 2020-04-17 | 杭州飞步科技有限公司 | Method, device, equipment and storage medium for recognizing obstacle by monocular camera |
-
2017
- 2017-05-08 CN CN201720500630.4U patent/CN206710598U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109849782A (en) * | 2017-11-30 | 2019-06-07 | 比亚迪股份有限公司 | Virtual panoramic auxiliary driving device and its display methods, vehicle |
| CN108363044A (en) * | 2018-02-12 | 2018-08-03 | 安徽江淮汽车集团股份有限公司 | A kind of data acquisition of BSD scenario buildings and analysis system |
| CN110596696A (en) * | 2018-06-13 | 2019-12-20 | 通用汽车环球科技运作有限责任公司 | Apparatus and method for improved radar beamforming |
| CN110596696B (en) * | 2018-06-13 | 2024-03-15 | 通用汽车环球科技运作有限责任公司 | Apparatus and method for improved radar beamforming |
| WO2019238127A1 (en) * | 2018-06-15 | 2019-12-19 | 杭州海康威视数字技术股份有限公司 | Method, apparatus and system for measuring distance |
| CN110287832A (en) * | 2019-06-13 | 2019-09-27 | 北京百度网讯科技有限公司 | High-Speed Automatic Driving Scene barrier perception evaluating method and device |
| CN111027381A (en) * | 2019-11-06 | 2020-04-17 | 杭州飞步科技有限公司 | Method, device, equipment and storage medium for recognizing obstacle by monocular camera |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171205 Termination date: 20190508 |
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| CF01 | Termination of patent right due to non-payment of annual fee |