CN106405560A - Ground error detection and report prevention long distance automobile ultrasonic wave detection method and detection device - Google Patents
Ground error detection and report prevention long distance automobile ultrasonic wave detection method and detection device Download PDFInfo
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
The invention discloses a ground error detection and report prevention long distance automobile ultrasonic wave detection method and a detection device. The device comprises multiple ultrasonic sensors, wherein the ultrasonic sensors have different detection distances, detection signals of the ultrasonic sensors are mutually overlapped to shield ground error detection signals, useful signals detected by the ultrasonic sensors are finally extracted, and continuous long distance detection signals are combined. Through the device, the multiple ultrasonic sensors are set, sensitivity of the ultrasonic sensors are designed, and effective long distance detection capability of the device is greatly improved under the ground error detection and report prevention condition.
Description
Technical field
The invention belongs to vehicle electronics field, especially relate to a kind of anti-ground far-distance vehicle that survey is reported by mistake by mistake and surpass
Acoustic detection method and detection device.
Background technology
Ultrasonic sensor on automobile be increasingly popularization, the radar for backing car being such as onboard commonly called as, that is,
Parking assisting system in front and back, after be arranged in car and Herba Plantaginis ultrasonic sensor to automobile before and after surrounding enviroment detect
Survey, differentiate object, clear away blind area, use ultrasonic listening technology, sensor used is ultrasonic sensor.
At present, automobile newly increases semiautomatic parking system or the automated parking system of utilization（Hereafter referred to collectively as automatically moor
Car system）, it is also by ultrasonic sensor, surrounding to be detected, and is sought with ultrasound wave automatic parking sensor
Look for, identify parking stall.The automobile blind spot monitoring system used on partial automobile at present（Or claim blind spot aid system）, be also adopted by is
Ultrasonic listening technology, its pass through ultrasound wave blind-spot sensors to vehicle right and left track exterior mirror not it is observed that blind area
Region is detected, with car assisted driver's lane change, driving.
As shown in figure 1, automobile is provided with sensor 16,13 of parking（Also it is commonly called as reversing radar sensor）, also referred to as RPA sensing
Device, is respectively arranged diverse location after Herba Plantaginis, car, before number of probes be usually 4 or 2, after number of probes lead to
Often it is 4,3 or 2.
Ultrasound wave blind-spot sensors 11,12, also referred to as BSA sensor, usual car is left back and car right after each arrangement 1.
Automatic parking sensor 14,15,17,18, also referred to as APA sensor, on the left of usual Herba Plantaginis, on the right side of Herba Plantaginis, car rear left
The each arrangement in right side 1 behind side, car.The driving road-condition condition adjudgement that APA sensor 14,15 also serves as blind monitoring system simultaneously is auxiliary
Help sensor, on part is used, APA sensor 17,18 also can pass as the blind area aided detection of blind monitoring system simultaneously
Sensor, to increase the coverage to blind area for the system.Fig. 2, is the outline drawing of conventional ultrasound wave sensor.
The ultrasonic sensor using on automobile at present, generally, sensor is installed on bumper, and setting height(from bottom) is
45-65 centimetre.When sensor installs too low, certain angle of facing upward can be appropriately arranged with, to avoid sensor that ground is surveyed by mistake by mistake
Report.
When using as RPA sensor, often there is this situation：Such as, when RPA sensor setting height(from bottom) be 35 centimetres extremely
When 45 centimetres, sensor faces upward 10 degree to 20 degree.But BSA sensor and APA sensor, being commonly installed height can not be too low, on
Elevation angle degree can not be excessive, because setting height(from bottom) is too low, tilt angle is excessive, because sensor detection angle is towards relation, sensor
To long-distance barrier thing（As vehicle）Detectivity can be remarkably decreased, and BSA sensor and APA sensor are it is desirable to it has more
Strong long-range detection ability.
Meanwhile, when using as BSA sensor and APA sensor, sensor setting height(from bottom) nor too high, because generally
Automobile（Car）Headstock fore-end height is less than 1 meter, and its ultrasound wave strong reflection spot is in less than 70 centimetres of height, and sensor is pacified
Fill too high, be unfavorable for it to automobile（Car）Detection.Therefore ultrasound wave BSA sensor and APA sensor, the peace on automobile
Between dress height is usually 45-65 centimetre, interval at this, when installation is in low position, it is commonly designed it with certain little
Angle is faced upward, and such as 1 degree to 7 degree, tilt angle will not be excessive.
Hereinafter, to ultrasonic sensor to barrier（Object）Detection principle do basic explanation.
Fig. 3 is the detection schematic diagram to par for the traditional sensors SA, sensor SA profile such as Fig. 2, if sensor SA
Setting height(from bottom) H is 60 centimetres, and sensor levels are installed, and no face upward.The range distance of sensor SA is LS（It is set to 6 meters）, sensing
Device is adjusted the distance LG1（2.5 rice）Par P1（The PVC water pipe of 75 millimeters of diameter is referred to as par, iso standard）Visited
Survey；Produced work schedule signal such as Fig. 4, sensor SA detection cycle is T60（Equal to 2*LS/（340 meter per seconds）, ultrasound wave
Spread speed be usually 340 meter per seconds）.TA is the transmitting remained shock signal of sensor SA, and SAP1 is sensor SA to par P1
The echo-signal detecting.
Because sensor has level and vertical sounding angular characteristicses, sensor vertical detection angle more big easier to ground
Or the survey wrong report by mistake of ground rubble, less its of sensor vertical detection angle is less susceptible to ground or ground rubble are missed surveys wrong report.
See Fig. 3, require according to standard, sensor is when detecting to barrier it is desirable to it is not to 3-5 on ground and ground
Centimetre high rubble produces surveys wrong report by mistake（Ground rubble is set to GS）., in the distance segment different from sensor, its ultrasound wave is anti-for GS
It is different for penetrating produced echo-signal size, and generally from range sensor, 70 centimetres start to distance more than 1 meter, and reflection is
By force, produced echo-signal SAG1 is the strongest（Amplitude highest）, distance increase therewith, echo-signal produced by different sections GS
SAG2 ... to SAGn, signal intensity gradually successively decreases.Because this inherent character of automobile ultrasonic and industry corresponding requirements, therefore
When sensor is when normally being detected to barrier, it will carry out to echo-signal produced by GS filtering process to prevent by mistake
Survey wrong report, to ensure effective detection to barrier for the sensor.Common processing method is：In sensor to microphone（Visit core）
After transmitting drives, start to receive echo, to different time sections（Be equivalent to and sensor different distance section）The echo-signal of GS, passes
Sensor testing circuit carries out detection and judges, testing circuit is in the different time periods to it（Be equivalent to the distances different from sensor
Section）Different threshold values are set（Threshold）, filtered with the echo-signal to GS；As Fig. 4, the first threshold values ST1, the second threshold values
ST2、......, STn, be above in the corresponding time period（Distance segment）Echo-signal SAG1, SAG2 produced by GS,......、
SAGn；Therefore each section of GS echo-signal of sensor detection circuit nonrecognition, by different threshold values effectively to each section of GS echo-signal
Filtered.Thus, realize sensor whole process and ground rubble GS is not produced with survey wrong report by mistake.This is presently most commonly use super
Sonic sensor prevents the method that ground wrong report is surveyed by mistake.
Meanwhile, in Fig. 3, sensor SA adjusts the distance LG1（2.5 rice）Par P1 detected, by Fig. 4 clock signal figure
Understand, the echo-signal SAP1 signal intensity that par P1 produces enough, exceedes corresponding threshold value ST4, therefore sensor detection electricity
Road can recognize that this echo-signal, thus, sensor SA determines the presence of par P1 and calculates sensor SA and standard
The distance between bar P1.In Fig. 3, curve FAC is the vertical coverage envelope curve of sensor SA, by this curve, also can sentence
Know, sensor SA can be detected at the par P1 in its investigative range；And can sentence and know, sensor SA will not be broken to ground
Stone produces surveys wrong report by mistake.
To sum up it is known that, sensor SA detects to object, and the whether echo-signal of par P1, or ground is broken
The echo-signal of stone GS, if sensor detection circuit judges that its echo-signal is less than respective thresholds, then sensor is not then right
It produces signal output, will not judge the presence of this object；If sensor detection circuit judges that its echo-signal value reaches phase
Answer threshold values, then sensor then it is produced useful signal output, determine this object presence and calculate sensor with
The distance of this object.
Fig. 5 adjusts the distance LG2 for sensor SA（5 meters）Par P2 detection schematic diagram, the range distance of sensor SA
It is still LS（6 meters）, the echo-signal that produced work schedule signal such as Fig. 6, SAP2 detect to par P2 for sensor SA,
It can be seen that, same sensor, because barrier（Par）Distance increased one times（LG2=2*LG1）, echo-signal SAP2
Compare SAP1 signal intensity to be obviously reduced.Meanwhile, it will be appreciated from fig. 6 that the signal intensity of echo-signal SAP2 does not reach respective thresholds
STn, therefore, sensor SA can not detect the par P2 at LG2.By Fig. 5, the vertical coverage bag of sensor SA
Network curve FAC, also can sentence and know, sensor SA can not detect the par P2 being in outside its investigative range at a distance.
As shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, traditional sensors SA is in preferred microphone（Visit core）, optimize electronic circuit base
On plinth, it is achieved that the detection of 2.5 meters of pars of adjusting the distance on the premise of preventing ground from by mistake surveying wrong report, but could not realize to away from
Detection from 5 meters of pars.The ultrasound wave RPA sensor using on automobile, BSA sensor, APA sensor, because it is made hard
The difference of energy, the detection reaction rate request of therefore the long-range detection ability to sensor and sensor is different.
Long-range detection ability is one of of paramount importance performance indications of ultrasonic sensor, the long-range detection ability of sensor, leads to
The often PVC water pipe to 75 millimeters of diameter with sensor（Par）Detected, on the premise of wrong report not being surveyed to ground, passed by mistake
Sensor is more remote to the detection range of par, and the long-range detection performance of representative sensor is stronger.The remote spy of RPA sensor
Survey Capability Requirement is relatively low, and generally, the range distance of RPA sensor is set to 2.5 meters about, to par at 1.8 meters about
Can measure and then may be used.BSA sensor, as carrying out to the vehicle of track blind area about automobile outer rear-view mirror detecting needs, therefore senses
The long-range detection Capability Requirement of device is relatively high, and the range distance of usual BSA sensor is set to 4-6 rice, to par on 5 meters of left sides
Right requirement measures.APA sensor detects as parking stall ambient condition, identification uses, the therefore long-range detection ability of sensor
Require of a relatively high, the range distance of usual APA sensor is set to 4-5 rice, and par is measured in 3.5 meters about requirements.By
Upper understand, traditional sensors SA can meet at present and is used as RPA sensor, but is difficult to meet as BSA sensor and APA
Sensor is used, and is particularly difficult to satisfaction and is used as BSA sensor.
Therefore, based on above reason, the long-range detection energy of ultrasonic sensor is being improved, improved to industry by every means
Power.
At present, generally, the method strengthening sensor long-range detection ability has：
First, strengthen microphone in single sensor（Also referred to as visit core）Power, such as adopt more large scale specification, more powerful
Microphone, such as same size specification microphone, but the specification changing internal piezoelectric ceramic piece increases power, and microphone power increases
Greatly, microphone transmitting acoustic wave energy increases, and the backward energy of its reflection of therefore same barrier strengthens, and is therefore improved biography
The sensitivity of sensor, strengthens detectivity；
2nd, change microphone dimensions, such as increase external diameter, highly, change microphone internal structure, strengthen the super of microphone
Acoustic receiver ability is so that same transmission power, but because sensor echo capacity gauge strengthens, thus improving sensitivity；
3rd, microphone specification is constant, improves electronic circuit, improves the driving power to microphone, strengthens ultrasonic emitting to increase
Strong echo reflection；Improve electronic circuit, improve signal to noise ratio, improve amplification to greatest extent, etc., to improve sensor
Sensitivity；
4th, such as Application No. CN201610122775.5, a kind of automobile ultrasonic detection method and sensor, sensor passes through many
Individual microphone launches ultrasound wave with rhythm simultaneously, strengthens transmitting and echo, improves sensitivity, strengthens the detection energy of sensor with this
Power.
Above method has certain to the sensitivity strengthening sensor, raising sensor to the detectivity of distant objects
Castering action, but all there are serious problems, that is, increase, distant objects detectivity is increased in transducer sensitivity
While strong, in the vertical coverage of sensor, it is produced sensitive with sensor that sensor is difficult to filter out ground rubble
Degree increases and enhanced echo-signal, is particularly difficult to filter out sensor and closely locates enhanced echo produced by the rubble of ground
Signal, i.e. sensor exists to ground（Ground rubble）Survey wrong report by mistake.Describe in detail as follows：
If the ultrasonic sensor after sensitivity improves is improved sensor SB, improved sensor SB profile such as Fig. 2, mounting condition
Etc. constant.
Fig. 7 adjusts the distance LG2 for sensor SB（5 meters）The detection schematic diagram of par P2, the range distance of sensor SB is
LS（6 meters）, the echo-signal that produced work schedule signal such as Fig. 8, SBP2 detect to par P2 for sensor SB, can
See, improved sensor SB, same remote LG2, but it compares sensor SA to standard to echo-signal SBP2 of par
Echo-signal SAP2 of bar P2 is remarkably reinforced.And the signal intensity of echo-signal SBP2 exceedes respective thresholds STn, therefore senses
Device SB can detect the par P2 at LG2.
From work schedule signal Fig. 8, sensor SB is in different time sections（Distance segment）Echo-signal SBG1 of GS,
SBG2、......, SBGn, relative sensors SA is in different time sections（Distance segment）Echo-signal SAG1 of GS,
SAG2、......, SAGn, also enhance, particularly first and second time period（Closely section）Echo-signal SBG1, SBG2 of GS
It is significantly increased compared with SAG1, SAG2, and first（Maximum）Threshold values ST1 is adjusted to the upper limit（Peak）Also GS echo can not have been filtered
Signal SBG1.I.e. sensor SB closely can not filter echo-signal produced by the rubble GS of ground.
In Fig. 7, curve FBC is the vertical coverage envelope curve of sensor SB, by this curve, also can sentence and know, sensing
Although device SB can be detected at the par P2 of distant place in its investigative range, it has created to ground surveys by mistake by mistake
Report（Curve FBC lower end with above ground portion interfere, overlapping）.
That is, improved sensor SB, when to in-plant object detection, it is normal obstacle that sensor is hard to tell
Thing or ground rubble, if closely place is detected to barrier and is reported to the police sensor SB, then, sensor SB is closely
Place also can be detected to ground rubble and be reported to the police, and that is, sensor SB has ground survey wrong report by mistake.That is, in tradition sensing
Device sensitivity is greatly improved afterwards although sensor enhances to the object detection ability of distant location, but it closely locates to detect
Disabler.
From the foregoing, it will be observed that when transducer sensitivity improves, after the object detection ability enhancing of distant location, sensor is over the ground
Face exists surveys wrong report by mistake, and the long-range detection ability of therefore sensor is not effectively lifted.
Content of the invention
The problem existing for prior art, it is an object of the invention to provide a kind of structure is through improvement, anti-ground by mistake
Survey the far-distance vehicle supersonic sounding device of wrong report, it is a further object of the present invention to provide a kind of defense sector implementing said apparatus
The far-distance vehicle ultrasonic detection method of wrong report is surveyed in face by mistake.
For achieving the above object, the far-distance vehicle supersonic sounding device of wrong report is surveyed on the anti-ground of the present invention by mistake, if including
Dry ultrasonic sensor, the detection range of each ultrasonic sensor is different, the detectable signal phase of each ultrasonic sensor
Mutually it is superimposed, to shield and wherein the mistake on ground is surveyed with signal, and finally extract the useful signal of each ultrasonic sensor detection, group
Synthesize successional distance detecting signal.
Further, several described ultrasonic sensors can be combine as an overall structure or
The structure of split independence.
Further, described ultrasonic sensor includes microphone and electronic circuit cell, and described electronic circuit cell is to institute
State microphone be driven and echo-signal be amplified, filter, calculation process, to draw detection range.
Further, described ultrasonic sensor also includes casing assembly unit and is arranged on its interior gum cover unit, outward
It is provided with connector unit on shell component unit.
Further, described microphone is fixedly installed in described casing assembly unit by gum cover unit, described adapter
Unit is the external hardware interface of described sensor, and described sensor is by the external signal transmission of described connector unit.
Further, when described ultrasonic sensor uses as automobile blind spot monitoring system blind-spot sensors, described ultrasonic
Ripple detection device is integrated with the setting of automobile reflector.
The far-distance vehicle ultrasonic detection method of wrong report is surveyed on a kind of anti-ground implementing above-mentioned supersonic sounding device by mistake,
It is specially：Several ultrasonic sensors are divided into, according to the distance of detection range, the grade progressively successively decreased, wherein, one ultrasonic
Wave sensor produces the actual detection distance of the distance no more than lower level ultrasonic sensor by mistake surveying wrong report to ground；Some
Individual ultrasonic sensor collaborative work, all shields upper level by the detectable signal of lower level ultrasonic sensor step by step and passes
The mistake of sensor surveys signal, and finally extracts the useful signal that each ultrasonic sensor detects, and is combined into successional remote
Detectable signal.
Further, the described ultrasonic sensor of the lowest class does not produce the signal by mistake surveying wrong report to ground.
Further, it is provided with two ultrasonic sensors in described ultrasonic detection method, described ultrasonic sensor can
To be the structure combined as an overall structure or split independence.
Further, it is provided with two ultrasonic sensors S1, S2, ultrasonic sensor in described ultrasonic detection method
S1, ultrasonic sensor S2 detect to barrier simultaneously.
Further, described ultrasonic sensor S1, the detection method of ultrasonic sensor S2 are：
1）Strengthen ultrasonic sensor S1 sensitivity so that the BURN-THROUGH RANGE of ultrasonic sensor S1 increases as far as possible,
To BURN-THROUGH RANGE L, survey wrong report until ultrasonic sensor S1 does not produce to the ground in 0-L stroke just by mistake；
2）The sensitivity strengthening ultrasonic sensor S2 is so that the BURN-THROUGH RANGE of ultrasonic sensor S2 reaches a*L, a>1；
3）The measurement parameter of adjustment ultrasonic sensor S2 is not so that ultrasonic sensor S2 produces to the ground in L-a*L stroke
Raw by mistake survey is reported by mistake；
4）Ultrasonic sensor S1 detects to the barrier in 0-L stroke, and shielding ultrasonic sensor S2 is to 0-L row simultaneously
The detection of object in journey, ultrasonic sensor S2 detects to the barrier in L-a*L stroke；
5）Combined echocardiography wave sensor S1, the result of detection of ultrasonic sensor S2, realize in 0-a*L stroke, and errorless survey is reported by mistake
Effective ultrasonic listening.
The present invention passes through to arrange several ultrasonic sensors, and by designing the sensitivity of each ultrasonic sensor,
So that effective long-range detection ability of detection device greatly improves by mistake under the conditions of preventing ground from surveying wrong report.
Brief description
Fig. 1 arranges schematic diagram for automobile ultrasonic sensor；
Fig. 2 is conventional ultrasonic wave sensor construction schematic diagram；
Fig. 3 for traditional sensors SA adjust the distance LG1 par detect schematic diagram；
Fig. 4 adjusts the distance LG1 par detection operations clock signal schematic diagram for traditional sensors SA；
Fig. 5 for traditional sensors SA adjust the distance LG2 par detect schematic diagram；
Fig. 6 adjusts the distance LG2 par detection operations clock signal schematic diagram for traditional sensors SA；
Fig. 7 for improved sensor SB adjust the distance LG2 par detect schematic diagram；
Fig. 8 adjusts the distance LG2 par detection operations clock signal schematic diagram for improved sensor SB；
Fig. 9 is the detection device SZ structural representation of two ultrasonic sensors of setting；
Figure 10 is the internal structure schematic diagram of ultrasonic sensor；
Figure 11 is that detection device SZ of two ultrasonic sensors of setting detects schematic diagram to par orthogonal decomposition；
Figure 12 is detection device SZ of two ultrasonic sensors of setting to par vertical comprehensive survey schematic diagram；
Figure 13 is that detection device arranges schematic diagram with reflector assembly.
Specific embodiment
Below, refer to the attached drawing, is more fully illustrated to the present invention, shown in the drawings of the exemplary enforcement of the present invention
Example.However, the present invention can be presented as multiple multi-forms, it is not construed as the exemplary enforcement being confined to describe here
Example.And it is to provide these embodiments, so that the present invention is fully and completely, and will fully convey the scope of the invention to this
The those of ordinary skill in field.
For ease of explanation, here can using " on ", the space relative terms such as D score " left " " right ", for saying
Shown in bright in figure a element or feature are with respect to the relation of another element or feature.It should be understood that except in figure
Outside the orientation illustrating, spatial terminology is intended to the different azimuth in use or operation including device.For example, if in figure
Device is squeezed, be stated as positioned at the element of other elements or feature D score will be located into other elements or feature " on ".Cause
This, exemplary term D score can comprise both upper and lower orientation.Device can otherwise position（Ratate 90 degrees or be located at
Other orientation）, can correspondingly explain used herein of space explanation relatively.
As shown in Fig. 9 to Figure 13, the far-distance vehicle supersonic sounding device of wrong report is surveyed on the anti-ground of the present invention by mistake, can basis
Work requirements, arrange several ultrasonic sensors, and several ultrasonic sensors can be the overall structure being combined into one,
May also be split absolute construction.
The detection range of each ultrasonic sensor is different, wherein can comprise remote ultrasonic sensor, intermediate range distance
Ultrasonic sensor, short distance ultrasonic sensor etc., each ultrasonic sensor detects with to an orientation, and will be each
The detectable signal of individual ultrasonic sensor is overlapped mutually, and gathers accurate signal in these detectable signals, and shields wherein to ground
Mistake survey signal.Eventually through extracting the useful signal that each ultrasonic sensor detects, it is combined into successional remote spy
Survey signal.
In the present embodiment, supersonic sounding device SZ, to arrange two ultrasonic sensors S1, S2, the present invention is detected
Device is illustrative.
Fig. 9 is the detection device SZ structural representation of two ultrasonic sensors of setting, and detection device SZ comprises ultrasound wave
Sensor S1 and ultrasonic sensor S2.
Figure 10 is the internal structure schematic diagram of single ultrasonic sensor, single ultrasonic sensor include microphone 20a,
Silica gel sheath unit 20b, electronic circuit cell 20d, connector unit 20e, casing assembly unit 20c.
Electronic circuit cell 20d is driven to described microphone 20a and echo-signal is amplified, filters, transport
Calculation is processed, to draw detection range.Integrally disposed in electronic circuit cell 20d have single-chip microcomputer, power module, communication module, surpass
Acoustic emission module and ultrasound wave receiver module.One group of ultrasonic emitting module, ultrasound wave receiver module are transaudient corresponding to one
Device is controlling its work.
Silica gel sheath unit 20b provides protection and cushioning effect for microphone 20a.Connector unit 20e realizes sensor electricity
The hardware linkage functions such as source supply, data transfer, and provide integral installation to support for sensor together with casing assembly unit 20c
And protection.Each unit assembling becomes one, and forms ultrasonic sensor, and usual sensor carries out embedding using filling glue, with
Realize water-proof function（Operative sensor then directly carries out structural formula sealing using casing assembly and reaches water-proof function, not using filling out
Fill glue and carry out embedding）.
Composition described above explanation is the absolute construction for split, i.e. each ultrasonic sensor for each ultrasonic sensor
For individually individuality.When the overall structure being integrated combined by each ultrasonic sensor, each sensor can be letter
Single mechanism's setting combination, such as each sensor still has independent electronic circuit cell, connector unit etc.；Can also be more
For deep setting combination, such as shared electron circuit unit, connector unit etc..Detection device is in sensor combinations setting side
No fixing restriction in formula.When detection device is the overall structure mode that multiple ultrasonic sensors are combined into one, whole detection
Device can also be referred to as a ultrasonic sensor.Each ultrasonic sensor of detection device of the present invention, or for being combined as
The overall structure mode of one, or be split absolute construction mode, it is to meet its arrangement on automobile, utilization to facilitate, with
Improve function, performance, or improve the installation different starting point of appearance looks elegant and carry out.
Additionally, in specific design, each ultrasonic sensor in detection device of the present invention（Microphone）Difference can be set to
Operating frequency（Such as 40KHz, 48KHz or other）, can work both this simultaneously, barrier is detected；Also may be used
Be set to identical operating frequency, each ultrasonic sensor using in turn, circulation work by the way of, a ultrasonic sensor work
Finish, yet another ultrasonic sensor is started working, and removes co-channel interference with this.
When ultrasonic sensor uses as automobile blind spot monitoring system blind-spot sensors, supersonic sounding device SZ and vapour
Car reflector 10 setting is integrated.
As shown in figure 13, supersonic sounding device SZ and reflector assembly arrange schematic diagram, ultrasonic listening dress of the present invention
Put a kind of mounting structure form of SZ, i.e. when supersonic sounding device SZ of the present invention is as automobile blind spot sensor（BSA senses
Device）With when, supersonic sounding device SZ and automobile reflector 10（Reflecting piece）Setting is integrated, and makes assembly, then by group
Part is mounted on bumper again.
This setting form has the advantage that：
One, in supersonic sounding device SZ, each ultrasonic sensor is equipped with reflector and is integrated, it appears each ultrasonic sensor
More hidden, so that overall appearance is attractive in appearance after car.If two or more ultrasonic sensors are mounted directly is arranged in insurance
Thick stick, multiple ultrasonic sensors seem to seem excessively prominent on bumper, less graceful.
Two, by the adjustment of assembly own form, structure, assembly on bumper position, angle adjustment so that
Each ultrasonic sensor of detection device is onboard all easily selected, is obtained and more preferably arrange orientation and angle, thus obtaining more
Good detection performance.Ultrasonic sensor is mounted directly the mode being fixed on bumper, then lack such adjustment flexibility ratio.
Three, bumper color has many kinds, and each ultrasonic sensor is equipped with reflector and is integrated, and can significantly subtract
Needed for few ultrasonic sensor appearance, the color category of spray paint, is only needed one or two kind and is mated good color with reflector.But
If ultrasonic sensor is mounted directly be arranged on bumper, for making ultrasonic sensor outer surface keep as vehicle body
Color, then need to spray a variety of coloured paint, so that processing trouble, cost increase.
Meanwhile, far-distance vehicle ultrasonic detection method and the detection device of wrong report is surveyed on the anti-ground of the present invention by mistake, except can
To be used on usually said automobile it is also possible to be used in all kinds of kind such as tricycle, motorcycle, tricycle for the disabled, electric bicycle
On class, vehicle of different sizes, such as using automobile ultrasonic detection method of the present invention and detection device, broadly fall into the present invention and cover
Scope.
The far-distance vehicle ultrasonic detection method of wrong report, tool are surveyed in a kind of anti-ground of above-mentioned supersonic sounding device SZ by mistake
Body is：Several ultrasonic sensors are divided into, according to the distance of detection range, the grade progressively successively decreased, such as：Detection range is
3 meters be provided with the first estate, detection range be 6 meters be provided with the second grade, detection range be 9 meters be provided with third class
Level, detection range is 12 meters of the fourth estate that is provided with, detection range be 15 meters be provided with the 5th grade, detection range be 18
Rice be provided with the 6th grade, detection range be 21 meters be provided with the 7th grade, the like.
Wherein, a ultrasonic sensor produces the distance no more than lower level supersonic sensing by mistake surveying wrong report to ground
The actual detection distance of device, the described ultrasonic sensor of the lowest class does not produce the signal by mistake surveying wrong report to ground.I.e.：7th
Grade ultrasonic sensor produces the actual detection of distance no more than the 6th grade ultrasonic sensor by mistake surveying wrong report to ground
Distance, the 6th grade ultrasonic sensor produces distance no more than the 5th grade ultrasonic sensor by mistake surveying wrong report to ground
Actual detection distance, the 5th grade ultrasonic sensor produces the distance no more than fourth estate ultrasound wave by mistake surveying wrong report to ground
The actual detection distance of sensor, the distance that fourth estate ultrasonic sensor produces survey wrong report by mistake to ground is not more than third class
The actual detection distance of level ultrasonic sensor, the distance that tertiary gradient ultrasonic sensor produces survey wrong report by mistake to ground is little
In the actual detection distance of the second grade ultrasonic sensor, the second grade ultrasonic sensor produces to ground and surveys wrong report by mistake
The actual detection distance of distance no more than the first estate ultrasonic sensor, the first estate ultrasonic sensor does not produce to ground
Survey the signal of wrong report by mistake.
Several ultrasonic sensor collaborative works, are all shielded by the detection of lower level ultrasonic sensor step by step
The mistake of upper level sensor surveys signal, and finally extracts the useful signal that each ultrasonic sensor detects, and is combined into seriality
Distance detecting signal.
In the present embodiment, supersonic sounding device SZ, to arrange two ultrasonic sensors S1, S2, the present invention is detected
Method is illustrative.
As shown in figure 9, detection device SZ is made up of ultrasonic sensor S1 and S2（The mechanism being combined into one）, S1, S2
Two ultrasonic sensors detect to barrier simultaneously.Figure 11 is detection device SZ of two ultrasonic sensors of setting to mark
Quasi- bar orthogonal decomposition detects schematic diagram.
The work process of detection device SZ is：
One detection device initialization：
1）Ultrasonic sensor S1, preferred vertical detection angle is relatively small, the ultrasound wave of the of a relatively high excellent performance of sensitivity
Microphone（Visit core）, the design of Optimization for Ultrasonic Wave sensor electronics,
To strengthen the sensitivity of ultrasonic sensor S1 so that the BURN-THROUGH RANGE of ultrasonic sensor S1 increases as far as possible,
To BURN-THROUGH RANGE L, until ultrasonic sensor S1 is not just to the ground in 0-L stroke（Ground rubble）Produce and survey by mistake by mistake
Report, ultrasonic sensor S1 is arranged at this sensitivity.
See Figure 11, the vertical coverage envelope curve F1C of ultrasonic sensor S1, from F1C, in 0-L stroke,
Ultrasonic sensor S1 can detect the par P1 at place close together, but detects the par P2 less than distant place,
And, ultrasonic sensor S1 will not produce to ground and survey wrong report by mistake.Meanwhile, will also realize that, if improving supersonic sensing further
The sensitivity of device S1（The i.e. sensitivity setting get Geng Gao of ultrasonic sensor S1）, then ultrasonic sensor S1 will be to 0-L
In stroke, somewhere ground produces and surveys wrong report by mistake.
Therefore, in 0-L stroke, ultrasonic sensor S1 does not survey wrong report to ground by mistake, and ultrasonic sensor S1 can be to 0-L row
Barrier in journey is effectively detected.
2）Ultrasonic sensor S2, preferred vertical detection angle is relatively small, the of a relatively high excellent performance of sensitivity super
Sound wave microphone（Visit core）, the design of Optimization for Ultrasonic Wave sensor electronics,
To strengthen the sensitivity of ultrasonic sensor S2 so that the BURN-THROUGH RANGE of ultrasonic sensor S2 more than L and to the greatest extent may be used
Can increase, to BURN-THROUGH RANGE a*L（a>1）, until ultrasonic sensor S2 does not produce to the ground in L-a*L stroke just
Survey wrong report, ultrasonic sensor S2 is arranged at this sensitivity by mistake.
See Figure 11, the vertical coverage envelope curve F2C of ultrasonic sensor S2, from F2C, because of supersonic sensing
After device S2 sensitivity improves, in 0-L stroke, there is survey wrong report by mistake in ultrasonic sensor S2 to somewhere ground；In L-a*L stroke
Interior, ultrasonic sensor S2 can detect the par P2 at distant place, and, ultrasonic sensor S2 will not be to L-a*
In L stroke, wrong report is surveyed on ground by mistake.Meanwhile, will also realize that, if improving the sensitivity of ultrasonic sensor S2 further（I.e. ultrasound wave
The sensitivity setting get Geng Gao of sensor S2）, then ultrasonic sensor S2 will produce by mistake to somewhere ground in L-a*L stroke
Survey wrong report.
Therefore, in 0-L stroke, there is survey wrong report by mistake to somewhere ground in ultrasonic sensor S2, in L-a*L stroke, surpasses
Sonic sensor S2 does not survey wrong report to ground by mistake, therefore ultrasonic sensor S2 can be carried out effectively to the barrier in L-a*L stroke
Detect.
The normal detection to barrier of two detection devices
Detection device SZ is detected to the barrier in 0-L stroke by ultrasonic sensor S1, by ultrasonic sensor
S2 detects to the barrier in L-a*L stroke, shields the result of detection to object in 0-L stroke for the ultrasonic sensor S2.
Therefore, the long-range detection ability of device is enhanced, and effective BURN-THROUGH RANGE improves to a*L, and in 0-a*L total travel effectively
Prevent wrong report surveyed to the mistake on ground.
See Figure 12, detection device SZ of two ultrasonic sensors of setting, to par vertical comprehensive survey schematic diagram, is visited
The vertical coverage envelope curve surveying device SZ is FC, and from FC, in 0-a*L entirety stroke, detection device SZ will not
Wrong report is surveyed to ground by mistake, in 0-a*L stroke, detection device SZ can detect the par P2 at distant place.
With this, detection device is effectively detected to the barrier in 0-a*L total travel.
At present, traditional ultrasonic sensor, detects to par, and BURN-THROUGH RANGE L is 3 meters about（Effectively farthest
Detection range, that is, under the conditions of wrong report is surveyed in anti-ground by mistake）, and the ultrasonic sensor improved, then there is ground and survey wrong report by mistake.Adopt
With detection method of the present invention, device, it is provided with as a example two ultrasonic sensors by device, survey wrong report condition preventing ground by mistake
Under, the BURN-THROUGH RANGE of detection device can be improved to 6 meters by original 3 meters（I.e. coefficient a, is worth for 2）, lift amplitude greatly, lifting
Effect is significant.Meanwhile, if device arranges three or more ultrasonic sensors, then effective long-range detection of detection device
Ability can improve further.
The beneficial effect of the invention：
At present, supersonic sounding device is increasingly popularized, and Ultrasonic Range Finder for Parking has become the standard configuration of automobile, passes with ultrasound wave
Sensor detects and is used as automated parking system, blind monitoring system, high performance supersonic sounding device（Sensor）Fortune
With just growing with each passing day with demand.And, it is more applied on automobile, with car assisted realize more automatic, more intelligent, more
The driving of safety is used.
The present invention program, the utilization on automobile, there is extremely wide prospect, promote, accelerate detection device of the present invention
And the popularization of detection method and utilization, considerable economic worth will be created, also improved the traveling improving automobile simultaneously further
Safety, has very positive meaning.
Claims (10)
1. the far-distance vehicle supersonic sounding device of wrong report is surveyed it is characterised in that this supersonic sounding device bag in anti-ground by mistake
Include several ultrasonic sensors, the detection range of each ultrasonic sensor is different, the detection letter of each ultrasonic sensor
Number it is overlapped mutually, to shield and wherein signal to be surveyed to the mistake on ground, and finally to extract the useful letter of each ultrasonic sensor detection
Number, it is combined into successional distance detecting signal.
2. supersonic sounding device as claimed in claim 1 is it is characterised in that several described ultrasonic sensors are combination
It is an overall structure together, or the structure of split independence.
3. supersonic sounding device as claimed in claim 1 it is characterised in that described ultrasonic sensor include microphone and
Electronic circuit cell, described electronic circuit cell is driven to described microphone and echo-signal is amplified, filters,
Calculation process, to draw detection range.
4. supersonic sounding device as claimed in claim 1 is it is characterised in that described ultrasonic sensor also includes shell group
Part unit and be arranged on its interior gum cover unit, casing assembly unit is provided with connector unit；Described microphone passes through
Gum cover unit is fixedly installed in described casing assembly unit, and described connector unit is that the external hardware of described sensor connects
Mouthful, described sensor is by the external signal transmission of described connector unit.
5. supersonic sounding device as claimed in claim 1 is it is characterised in that described ultrasonic sensor is as automobile blind spot
When monitoring system blind-spot sensors use, described supersonic sounding device is integrated with the setting of automobile reflector.
6. the far-distance vehicle ultrasonic detection method of wrong report is surveyed it is characterised in that this ultrasonic detection method has in anti-ground by mistake
Body is：Several ultrasonic sensors are divided into, according to the distance of detection range, the grade progressively successively decreased, wherein, a ultrasound wave
Sensor produces the actual detection distance of the distance no more than lower level ultrasonic sensor by mistake surveying wrong report to ground；Several
Ultrasonic sensor collaborative work, all shields upper level sensor by the detection of lower level ultrasonic sensor step by step
Survey signal by mistake, and finally extract the useful signal that each ultrasonic sensor detects, be combined into successional long-range detection letter
Number.
7. ultrasonic detection method as claimed in claim 6 it is characterised in that the described ultrasonic sensor of the lowest class not
Ground is produced with the signal by mistake surveying wrong report.
8. ultrasonic detection method as claimed in claim 6 is it is characterised in that be provided with two in described ultrasonic detection method
Individual ultrasonic sensor, described ultrasonic sensor is to combine as an overall structure, or the knot of split independence
Structure.
9. ultrasonic detection method as claimed in claim 6 is it is characterised in that be provided with two in described ultrasonic detection method
Individual ultrasonic sensor S1, S2, ultrasonic sensor S1, ultrasonic sensor S2 detect to barrier simultaneously.
10. ultrasonic detection method as claimed in claim 9 is it is characterised in that described ultrasonic sensor S1, ultrasound wave pass
The detection method of sensor S2 is：
The sensitivity strengthening ultrasonic sensor S1 is so that the BURN-THROUGH RANGE of ultrasonic sensor S1 increases as far as possible, extremely
BURN-THROUGH RANGE L, surveys wrong report until ultrasonic sensor S1 does not produce to the ground in 0-L stroke just by mistake；
The sensitivity strengthening ultrasonic sensor S2 is so that the BURN-THROUGH RANGE of ultrasonic sensor S2 reaches a*L, a>1；
The measurement parameter of adjustment ultrasonic sensor S2 is not so that ultrasonic sensor S2 produces to the ground in L-a*L stroke
Survey wrong report by mistake；
Ultrasonic sensor S1 detects to the barrier in 0-L stroke, and shielding ultrasonic sensor S2 is to 0-L stroke simultaneously
The detection of interior object, ultrasonic sensor S2 detects to the barrier in L-a*L stroke；
Combined echocardiography wave sensor S1, the result of detection of ultrasonic sensor S2, realize in 0-a*L stroke, errorless survey wrong report
Effectively ultrasonic listening.
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| CN201610759709.9A CN106405560A (en) | 2016-08-30 | 2016-08-30 | Ground error detection and report prevention long distance automobile ultrasonic wave detection method and detection device |
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| CN113281759A (en) * | 2021-04-28 | 2021-08-20 | 浙江吉利控股集团有限公司 | Control method and system for ultrasonic sensor and computer storage medium |
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