200817212 九、發明說明： 【發明所屬之技術領域】 本發明係關於一種倒車雷達，尤指一種可防止誤判障 礙物而發出誤警報的倒車雷達。 【先前技術】 目前倒車雷達可依照其檢測器類塑而區分有紅外、線檢 測式倒車雷達及超音波倒車雷達，其中以超音波倒車雷達 車父為常見。當超音波感測器向外發射該一超音波信號時， 因為超音波的特性使然，超音波信號自該超音波感測器發 出後’會向外擴散而呈一喇π八形狀，是以，可用以檢知到 較大範圍的障礙物存在。200817212 IX. DESCRIPTION OF THE INVENTION: TECHNICAL FIELD The present invention relates to a parking sensor, and more particularly to a parking sensor that can prevent false alarms from being misidentified. [Prior Art] At present, the reversing radar can be distinguished according to its detector type, such as infrared, line detection reversing radar and ultrasonic reversing radar, among which the supersonic reversing radar is common. When the ultrasonic sensor emits the ultrasonic signal outward, because of the characteristics of the ultrasonic wave, the ultrasonic signal is emitted from the ultrasonic sensor and then diffuses outward to form a shape of a pi-eight shape. Can be used to detect the presence of a wide range of obstacles.
請參閱第四圖A所示，係為一車輛（2 0 )車後裝設 有起曰波感測器（7 〇 )的側視圖。由於車後下方路面（3 〇 )較為崎嶇，而且該崎嶇路面（3 〇 )也是超音波信號 Q现的範圍（貫線標示區域），是以超音波感測器會接收 =自烤嶇路面（3 〇 )反射而回的部份超音波信號，進而 ^出5報。惟，駕駛人因為警報的提示，而必須停止車輛 俊退，待下車查看後才知道並無所謂障礙物存在，是以， 立般倒車雷達製造商為避免此-誤判現象發生，通常將超 :波感測器（7 〇 )發射超音波信號的角度往上調整，瓌 t =器（7〇)的超音波感測範圍不及路面（虛線 雖然直接調整超音波感測 器發射角度能避開路面小突 200817212 出物的誤判，但是當車輛面臨如第四圖B所示的狀況，即 遇見如台階（3 1 )等同樣小凸出物時，卻因為感測範圍 不及而無法及時發出警報。因此雖然調整超音波感測器角 度可以忽略突出於路面的小突出物，但如階梯等凸起物則 因為無法檢測反而無及時警告駕驶者，而可能危害行車安 〇 此外’雖然採用超音波感測器具有較大的感測範圍，Please refer to Figure 4A for a side view of a vehicle (20) equipped with a chopper sensor (7 〇). Since the road surface behind the car (3 〇) is more rugged, and the rugged road surface (3 〇) is also the range of the ultrasonic signal Q (cross-line marking area), it is received by the ultrasonic sensor = self-baked road surface ( 3 〇) Part of the ultrasonic signal reflected back, and then 5 reports. However, the driver must stop the vehicle because of the warning, and only know that there is no obstacle when he gets off the vehicle. Therefore, the manufacturer of the vertical reversing radar usually avoids this - misjudgment, usually super: wave The angle of the ultrasonic signal emitted by the sensor (7 〇) is adjusted upwards, and the ultrasonic sensing range of 瓌t = (7〇) is not as good as that of the road surface (the dotted line directly adjusts the angle of the ultrasonic sensor to avoid the road surface. Sudden 200817212 misjudgement of the object, but when the vehicle faces the situation as shown in Figure 4B, that is, when it encounters the same small protrusion such as the step (3 1 ), it cannot be alerted in time because the sensing range is not enough. Although adjusting the angle of the ultrasonic sensor can ignore the small protrusions protruding from the road surface, the protrusions such as the steps are not able to detect but not promptly warn the driver, and may impair the driving safety. In addition, ultrasonic sensing is used. Has a large sensing range,
但同樣地亦易受㈣遭非障礙物的干擾而產生誤判，諸如 拖車等大型車輛的氣煞及搖動鑰匙等發出的高頻聲音声 號，均/由超音波感測器所接收，而誤判為障礙物，是以， 上述壞境南頻聲音干擾並非 予以解決的。 了由魏起曰波感測器角度可 赞明内容 有鑑於上述既有倒車雷 失、本發明的主要發明目的係提;置y:應用上的誤判缺 有效降低誤判結果的倒車雷達。 、免^ ^干擾而 右人達上述目的所使用的主 的防止誤判方式包含有· 何免係令該倒車雷達 第一段檢測程序及第二 段檢測程序係令各超立广：S k測程序，*中該第一 行接收回超音波二二^ ^自仃發射超音波信號且自 接收到回波信號所費時間，τ Ί為基準，判斷自發射至 的距離’再依照：依據此-時間計算出障礙物 心是否有障礙物出現；又，該 5 200817212 第二段交互檢測程序係主要先令一超音波感測器發射超音 波信號，再由另一個超音波接收超音波回波信號，之後再 將此-步驟骸，即將前次接收回波的超音波感測器發射 超音波信號，再由前次發射超音波信號的超音波感測器接 收回波信號，最後再將兩次時間差計算出其對應的：離 後，再判斷此兩距離是否接近，若是則代表確實於兩超音 波感測器之間有障礙物存在，而發出警報。 。由^述說明可知，本發明結合超音波自發自收的檢測 程序及交互檢測程序，令該倒車雷達減少誤判斷機會，又 為增加整體判斷精確度’本發明可在第—段檢測料中與 加多重判斷的步驟’以重覆確認自發自收的檢測結… 性。 【實施方式】However, it is equally susceptible to (4) misjudgment caused by interference from non-obstacle, such as high-frequency sound signals from large vehicles such as trailers and shaking keys, all received by the ultrasonic sensor and misjudged. As an obstacle, the above-mentioned bad southern frequency sound interference is not solved. The angle of the sensor from Wei Qi can be praised. In view of the above-mentioned reversing loss, the main object of the invention is proposed; y: the misjudgment of the application is effective to reduce the result of misjudgment. The main method of preventing misjudgment used by the right person for the above purposes includes the use of the first stage of the reversing radar and the second part of the detection procedure. , the first line in the * receives the ultrasonic wave 2 2 ^ ^ self-transmitted ultrasonic signal and the time taken since receiving the echo signal, τ Ί as the reference, determine the distance from the launch 're-according to: according to this - Time to calculate whether there is an obstacle in the obstacle heart; in addition, the second phase of the 2008 200812 interaction detection program is mainly to let an ultrasonic sensor emit an ultrasonic signal, and then another ultrasonic wave receives the ultrasonic echo signal. Then, this step-step 骸, that is, the ultrasonic sensor that received the echo in the previous time transmits the ultrasonic signal, and then receives the echo signal from the ultrasonic sensor that previously transmitted the ultrasonic signal, and finally the time difference is twice. Calculate the corresponding: After the departure, determine whether the two distances are close. If it is, it means that there is an obstacle between the two ultrasonic sensors, and an alarm is issued. . It can be seen from the description that the invention combines the ultrasonic self-receiving detection program and the interactive detection program, so that the reversing radar reduces the chance of misjudgment and increases the overall judgment accuracy. The present invention can be used in the first-stage detection material. Add the step of multiple judgments to repeat the detection of spontaneous self-receiving. [Embodiment]
本發明應用於倒車雷達的防止誤判斷方法係主要包含 有第一段檢測程序及第二段交互檢測程序，其中：匕3 該第一段檢測程序係令各超音波感測器自行發射超立 :皮信號且自行接收回超音波回波，以發射時間為基準二 崎自發射至接收到回波信號所費時 ^ 丁间丹依據此一時間計 外出障礙物的距離，並以此一距離 声刀口以列蝣疋否有障礙物 屯現，若有則發出警報。 王於上返笫 H ^ 〜』牡矾仃完第一段 々測程序後所執行，即主要先令_ 立 起曰波感測器發射超音 处h號’再由另一個超音波接收# 叹島音波回波信號，之後再 6 200817212 將此一步驟倒反，即將前次接收回 超音波信，虎，再由前次發射超音波二：超音波感測器發射 收回波信號，最後再將兩次時間差?虎，超音波感測器接 後，並判斷此兩距離是否接近，若b 出其對應的距離 波感測器之間有障礙物存在，而發：:：表確實於兩超音 上述防止誤判警報的方法係於二。 實現，請參閱第二圖所示，該倒車+ 田k ( 1 0 )中 -微處理器…），：車建雷達（10)係包含有： 誤判警報程式，該防止誤判警報述方法的防止 程序（⑷及第二段交互檢測程序('::广，有第-段檢測 至少兩超音波感測器（1 2 )(] :超音波發射電路（i 4)連接至該微2=透過 輪出端，且再分別透過一回波檢測電 。。（1 1 )的 位轉換電路（]L 6 )連接至該微處 ）及類比數 及 °° 1 1 1 )的輸入端； -警報電…7)，係連接至該微處 "雨出端，由該微處理器（丄i )控 。 啟閉。 g報a路（1 7 ) 再請配合參閱第三圖所示，係為上 執行防止誤判警報告程式本發明的詳細流程11) 第一段檢測程序（50)係包含有以下步驟：“ · 同時控制兩超音波感測器發出超音波信號（已1 記錄發射超音波時間（52 );及 〇 ’ 判斷是否已接收超音波信號（53)，若有則判斷回波 200817212 時間並計算出對應的距離（54);反之，乡無則返回第一 步驟； 判疋否有p早礙物存在（5 5 )，若有則發出警報（$ 7 ); 若無則執行第二段交互檢測程序（6 0 )。 又，為避免由環境高頻聲音所干擾造成的回波產生， 故上述第至第二步驟可重覆執行數次，並累計至一定數The method for preventing misjudgment of the present invention for the reversing radar mainly comprises a first segment detecting program and a second segment cross detecting program, wherein: 匕3 the first segment detecting program causes each ultrasonic sensor to self-transmit the super stand : The skin signal and self-receiving of the ultrasonic echo, based on the time of the launch, the time taken by the second-slave self-transmitting to receive the echo signal ^ Ding Dan according to the distance of the obstacle, and the distance If there is an obstacle, the knife edge will appear. If there is, an alarm will be issued. Wang Yu Shang 笫 H ^ ~ 』 oysters are executed after the first stage of the speculation procedure, that is, the main shilling _ stand up the chopper sensor to emit the supersonic h number 'and then another supersonic wave receiving # sigh The island sound wave echo signal, and then 6 200817212 reverse this step, the previous time to receive the ultrasonic wave, the tiger, and then the previous launch of the ultrasonic wave 2: the ultrasonic sensor transmits the recovered wave signal, and finally Two time differences? Tiger, the ultrasonic sensor is connected, and judge whether the two distances are close. If there is an obstacle between the corresponding distance wave sensors, and the ::: table is indeed in the two super The above method for preventing false alarms is based on two. Realization, please refer to the second figure, the reversing + field k (1 0) - microprocessor...),: car construction radar (10) contains: false positive alarm program, the prevention of false positive alarm Program ((4) and the second paragraph interactive detection procedure (':: wide, there is a first-segment detection of at least two ultrasonic sensors (1 2 ) (]: the ultrasonic transmission circuit (i 4) is connected to the micro 2 = through The round end, and then separately detected by an echo. (1 1 ) bit conversion circuit (] L 6 ) connected to the micro) and analogy and ° ° 1 1 1 ) input; - alarm The electric ...7) is connected to the micro-section &rain; it is controlled by the microprocessor (丄i). Open and close. g report a road (1 7 ) Please refer to the third figure to complete the detailed process of the invention to prevent misjudgment report program. 11) The first section of the test procedure (50) includes the following steps: At the same time, the two ultrasonic sensors are controlled to emit an ultrasonic signal (1 has been recorded to transmit the ultrasonic time (52); and 〇' to determine whether the ultrasonic signal has been received (53), and if so, the time of the echo 200817212 is judged and the corresponding is calculated. The distance (54); otherwise, the township does not return to the first step; the judgment is whether there is an early obstruction (5 5), if there is an alarm ($ 7); if not, the second paragraph of the interactive detection procedure is executed (6 0 ). In order to avoid the generation of echoes caused by the interference of ambient high-frequency sounds, the above-mentioned first to second steps can be repeated several times and accumulated to a certain number.
:的=果均確定有接收到回波信號後（56 )，則能確定確 貫有障礙物存在，而發出警報（57)。 田上述第一段檢測程序結束後即執行第二段交互檢測 程序（60)，其包含有： ^刀—控制兩超音波感測器收發超音波信號（61 )(63 )， 係方、同4 %間’僅控制其一超音波感測器發射超音波， Άυ超音波時間，之後再控制另一超音波感測器接 收回波’若有超音波回波，則能計算出兩組對應距離（62 ) (64 ) ’如此即能獲得兩組距離（Da )(此）； 、、比對，組距離是否相近（65)，若，是則代表於兩超音 波之間確實存在障礙物，並發出警報（66);反之則益。 請同時參閱第一圖及第三圖A所示，上述判斷兩超立 波感測器（1 2 ) ( 1 3 )之間是否存在障礙物（2丄； 乃決定於最後的比對結果，而非受其環境高 響。即於第一吹砗p气肉 * 厅〜 -人日可間内，先由微處理器（1 1 )透過 波發射電路Γ Ί /、& & ^ ^ ^ 、1 4 )扛制弟一超音波感測器（1 2 )發射 …’再透過回S檢測電路（i 5)及類比數位轉換恭 路(工6)取^曰势-如六 ^ 取仔弟一起音波感測器（1 3 )的信號，以匈 8 200817212 斷該第二超音浊片 _ ^ 皮感測裔（1 3 )是否有接收到回波信號， 若有則以發出护立、士 ^ + 、 ~ 9波的時間為基準，判斷自發射到接收回 波信號所費的μ ^ 、 τ間’再據此一時間換算成對應的距離 仏+乃2 ) °再理’於第二次時間内（第三圖Β所示）， 2控制第二超音波感測器（1 3 )發射超音波信號，再由 第超曰波感测益' (1 2 )接收回波信號，並根據發射至 接收回波時間換算成距離（说= 。 (^ 由方、第 /第二時間所接收的回波信號有可能遭到環 境高頻聲音所影響，而造成誤判的結果，是以，本發明再 將兩次距離（仏叫加以比對，判斷其間誤差是否在可容 許的誤差範圍内（約±1〇Cm)，若兩超音波感測器（丄2 ) (1 3 )之間確實因為存在共同障礙物（2丄），則此兩 距離將會相近；反之，若兩距離相差甚遠，則代表回波信 號是因為受到環境高頻聲音所干擾，而不會發出警報聲 音。 ( 由上述說明可·知，本發明係整合兩種控制超音波感測 器的收發方式，增加判斷障礙物的準確度，排除環境高頻 聲音所造成的干擾誤判。 【圖式簡單說明】 第一圖··係本發明倒車雷達一較佳實施例的電路方塊 圖。 第二圖：係本發明方法應用於倒車雷達的詳細流程 9 200817212 第三圖A、B :係障礙物位於兩超音波感應器之間的 示意圖。 第四圖：A、B :係超音波感知範圍示意圖。 【主要元件符號說明】 (1 0 )倒車雷達 （1 1 )微處理器 (1 2 )超音波感測器 （1 3 )超音波感測器 (1 4 )超音波發射電路 （1 5 )回波檢測電路 (1 6 )類比數位轉換電路（1 7 )警報電路 (2 0 )車輛 （2 1 )障礙物 (3 0 )路面 （3 1 )階梯If the = is determined to have received the echo signal (56), it can be determined that an obstacle is present and an alarm is issued (57). After the first detection process of the above field, the second interactive detection program (60) is executed, which includes: ^ knife-control two ultrasonic sensors for transmitting and receiving ultrasonic signals (61) (63), the system, the same 4% 'control only one of its ultrasonic sensors to emit ultrasonic waves, Άυ ultrasonic time, and then control another ultrasonic sensor to receive echoes'. If there are ultrasonic echoes, then two sets of correspondence can be calculated. Distance (62) (64) 'This gives you two sets of distances (Da) (this); , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , And issue an alarm (66); otherwise, it benefits. Please also refer to the first figure and the third figure A, and determine whether there is an obstacle between the two super-wave sensors (1 2 ) ( 1 3 ) (2丄; it is determined by the final comparison result, and Not subject to high environmental sounds. That is, in the first blowing p gas * hall ~ - person day, first by the microprocessor (1 1) through the wave transmitting circuit Γ 、 /, && ^ ^ ^ , 1 4) 扛 弟 一 超 超 超 超 超 超 超 超 超 超 超 超 超 超 超 超 超 超 超 超 超 超 超 超 超 超 超 超 超 超 超 超 超 超 超 超 超 超 超 超 超 超 超 超 超 超 超 超 超 超Brother, together with the signal of the acoustic sensor (1 3), to the Hungarian 8 200817212 to break the second supersonic opacity _ ^ skin sensory (1 3) whether there is an echo signal received, if any, to issue a guard The time of the ±^, and ~9 waves is used as a reference to determine the μ ^ and τ between the transmission and the reception of the echo signal, and then convert to the corresponding distance 仏+ is 2 according to this time. In the second time (shown in Figure 3), 2 controls the second ultrasonic sensor (1 3 ) to emit the ultrasonic signal, and then receives the echo signal from the first super-wave sensing benefit '(1 2 ) And according to the hair The received echo time is converted into a distance (say = . (^ The echo signal received by the party and the second/second time may be affected by the ambient high-frequency sound, resulting in a false positive result. Then compare the two distances (the squeak is compared to determine whether the error is within the allowable error range (about ±1〇Cm), if the two ultrasonic sensors (丄2) (1 3 ) are indeed If there is a common obstacle (2丄), the two distances will be similar; if the distance between the two distances is far apart, the echo signal is represented by the ambient high-frequency sound and will not sound an alarm. It can be understood that the present invention integrates two methods of controlling the transmission and reception of ultrasonic sensors, increasing the accuracy of determining obstacles, and eliminating the interference misjudgment caused by ambient high-frequency sounds. [Simplified Schematic] The circuit block diagram of a preferred embodiment of the parking reversing radar of the present invention. The second drawing is a detailed flow of the method of the present invention applied to the reversing radar. 9 200817212 The third figure A, B: the obstacle is located in the two ultrasonic sensors. Between Fig. 4: A, B: Schematic diagram of ultrasonic sensing range. [Main component symbol description] (1 0) Reversing radar (1 1) Microprocessor (1 2 ) Ultrasonic sensor (1 3 ) Acoustic sensor (1 4 ) Ultrasonic transmitting circuit (1 5 ) Echo detecting circuit (1 6 ) Analog digital conversion circuit (1 7 ) Alarm circuit (2 0 ) Vehicle (2 1 ) Obstacle (3 0 ) Pavement (3 1 ) ladder