1303229 九、發明說明： 【發明所屬之技術領域】 本I明係關於一種倒車雷達，女' 如 —T- 礙物^山一 —種可防止誤判障 备出#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型而區分有紅外線檢 ^倒車雷達及超音波倒車雷達，其中以超音波倒車雷達 較為常見。當超音波感測器向外發射該 =超音波㈣性錢，超音波㈣自㈣音_2發 外擴散而呈，形狀，{以，可用以檢知到 孝乂大範圍的障礙物存在。 請參閱第四圖A所示，係為一車輛（2 〇 )車後裝設 有超音波感測器（70)的側視圖。由於車後下方路面：3 〇:::㈣’而且該崎喂路面（3〇) &是超音波信號 ^ (實線標示區域），是以超音波感測器會接收 ㈣路面㈡W而回的部份超音波信號，進而 ，:出警報。惟’駕駛人因為警報的提示^必須停止車輛 後退，待下車查看後才知道並無所謂障礙物存在，是以， 車雷達製造商為避免此一誤判現象發生，通常將超 曰波感心（7 0 )發射超音波信號的角度往上調整，讓 ^音波感測器（70) #超音波感測範圍不及路 標示區域）。 v y业琢 雖然直接調整超音波感測器發射角度能避開路面小突 1303229 出物的誤判μ旦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，#因為感測範圍 不及而無法及時發出警報。因此雖_整超音波感測器角 度可以忽略突出於路面的小突出4勿，但如階梯等凸起物則 因為無法檢測反而無及時警告駕駛者，而可能危害行車安 全。 此外，雖然採用超音波感測器具有較大的感測範圍， 但同樣地亦易受到周遭非障礙物的干擾而產生誤判，諸如 :車等大型車輛的氣煞及搖動錄起等發出的高頻聲音作 均會由超音波感測器所接收，而誤判為障礙物，是以， =環境高頻聲音干擾並非可由調整超音1303229 IX. INSTRUCTIONS: [Technical field to which the invention pertains] This I is related to a reversing radar, a female 'such as - T- obstruction ^ mountain one - a reversing radar that can prevent false positives from being prepared. [Prior Art] At present, the reversing radar can distinguish between the infrared detection reversing radar and the ultrasonic reversing radar according to the type of the detector, and the ultrasonic reversing radar is more common. When the ultrasonic sensor emits the = ultrasonic (four) sex money, the ultrasonic wave (four) is spread out from the (four) sound 2, and the shape, {, can be used to detect the existence of a large range of obstacles. Refer to Figure 4A for a side view of a vehicle (2 〇) equipped with an ultrasonic sensor (70). Because the road behind the car is: 3 〇:::(4)' and the Saki-Hai road (3〇) & is the ultrasonic signal ^ (solid line marking area), which is received by the ultrasonic sensor (4) the road surface (2) W Part of the ultrasonic signal, and, in turn, an alarm. However, the driver must stop the vehicle to retreat because of the alarm. After the vehicle is viewed, it is known that there is no obstacle. Therefore, the car radar manufacturer usually avoids this misjudgment. The angle at which the ultrasonic signal is transmitted is adjusted upwards so that the sound sensor (70) #ultrasonic sensing range is inferior to the road marking area). Although vy industry directly adjusts the angle of the ultrasonic sensor to avoid the misunderstanding of the surface of the road 1303229, when the vehicle faces the situation as shown in the fourth picture B, that is, the same as the step (3 1) When the small projections are out, # cannot be alerted in time because the sensing range is not enough. Therefore, although the angle of the ultrasonic sensor can be neglected to protrude from the small protrusion of the road surface, the protrusions such as the steps may not be detected in time, and the driver may not be warned in time, which may impair driving safety. In addition, although the ultrasonic sensor has a large sensing range, it is also susceptible to misjudgment by interference from non-obstacles around the vehicle, such as the high speed of a large vehicle such as a car, and the high frequency of the shaking. The frequency sound is always received by the ultrasonic sensor, and the error is judged as an obstacle. Yes, the ambient high frequency sound interference is not adjustable by the super sound.
予以解決的。 巧反J 【發明内容】 失，^於上述既有倒車雷達裝置實際應用上的誤判 &明的主要發明目的係提供-種能避免環境干俨 有效降低誤判結果的倒車雷達。 兄干擾 &欲達"L述目的所使料主要技術手段係令^車+ 的防止誤判方式包含有： 7。亥倒車雷 第一段檢測程戾Θ_ π 段檢測程序传人弟—段交互檢測程序，其中該第 行接收回二:各超音波感測器自行發射超音波信號且 接收到回波信號所費時門Γ 基 斷自發射 的距離，再依^守間’再依據此一時間計算出障礙 丹依-、此-距離判斷是否有障礙物出現.又， 1303229 第二段交互檢測程序伤主I生人 ^ ^ 外你主要先令一超音波感測器發射超音 波信號’再由另一個超音姑垃从^ t 1 似t㈢渡接收超音波回波信號，之後再 將此-步驟倒反，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距離 後，再判斷此兩距離是否接近， 右疋則代表確貫於兩超音 波感測裔之間有障礙物存在，而發出擎報。 I 由上述說明可知，太蘇日日έ士人I + i 1 ，本I月、、Ό合超音波自發自收的檢測 程序及父互檢測程序，合古女柄击不 ^ 7 4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 个知明可在弟一段檢測程序中增 加多重判斷的步驟，以重霜砝切 後確W自务自收的檢測結果正確 性。 【實施方式】 Μ本發明應用於倒車雷達的防止誤判斷方法係主要包含 有弟一段檢測程序及第二段交互檢測程序，其中·· …該第-段檢測程序係令各超音波感測器自行發射超音 波信號且自行接收回超音波回波’以發射時間為基準，判 :自發射至接收到回波信號所費時間，再依據此一時間計 π出I1早礙物的距離’並以此—距離加以判斷是否有障礙物 出現，若有則發出警報。 至於上述第二段交互檢測程序，則可在執行完第一段 =程序後所執行，即主要先令一超音波感測器發射超音 “虎’再由另一個超音波接收超音波回波信號，之後再 6 .1303229 將此一步驟倒反，即將前次接 人接收回波的超音波感測器發射 超音波信號，再由前次發射如立 ^射~音波信號的超音波感測器接 收回波信號，最後再將兩次睥 、 了 W人日可間差計算出其對應的距離 後，並判斷此兩距離是否接进 疋货接近，4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。 上述防止誤判警報的方、本技 /去你、於一倒車雷達（1 0 )中 實現，請參閱第二圖所示，哕你丨* ; π不°亥倒車雷達（1 0 )係包含有： 一微處理器（1 1 ) ，Α肉法 ^ ，、内建一對應上述方法的防止 误判警報程式，該防止誤邀 力$報私式係包含有第一段檢測 私(5 〇 )及第二段交互檢測程序（β 〇 ); 至少兩超音波感測器（1 2 )( 1 3 )，係分別透過 一超音波發射電路（14)連接至該微處理器（Η)的 輸出端，且再分別透過-回波檢測電…5)及類比數 位轉換電路（1 6 )車3 b )連接至s亥嘁處理器（1 1 )的輸入端； 及 -警報電路⑴），係連接至該微處理器（11) :出端，由該微處理器（11)控制該警報電路（17) 段閉。 再β配σ I閱第三圖所示’料上述微處理器（1 1 ) 仃:止块判警報告程式本發明的詳細流程圖，其中： 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（51); 記錄發射超音波時間（52);及 判斷是否已接收超音波信號（53)，若有則判斷回波 1303229 時間並計算出對應的距離（54 );反之，若無則返回第一 步驟； 判斷是否有障礙物存在（55 )，若有則發出警報（57 ); 右無則執行第二段交互檢測程序（60)。 為^免由環境南頻聲音所干擾造成的回波產生， 故上述第一至第三步驟可重覆執行數次，並累計至一定數 f的結果均確定有接收到回波信號後（56)，則能確定確 _ 實有障礙物存在，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·· ^分時控制兩超音波感測器收發超音波信號（61 ) (63 )， 係方、同蚪一打間，僅控制其一超音波感測器發射超音波， 並f UI射超音波時間，之後再控制另—超音波感測器接 σ皮若有起曰波回波’則能計算出兩組對應距離（6 2 ) (64 )，如此即能獲得兩組距離（^ )(此）； φ 、比埤兩組距離是否相近.（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);反之則無。 、月同日寸茶閱第-圖及第三圖Α所示，上述判斷兩超音 波感測态（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I，而非受其環境高頻聲音所影 %。即於第一次時間内，先由微處理器（1 1 )透過超音 波^射电路（工4 )控制第一超音波感測器（1 2 )發射 超音波，再透過回波檢測電路（工5 )及類比數位轉換電 路（6 )取得第二超音冰成、:目丨盟、， 8 1303229 ::第二超音波感測器（13) {否有接收到回波信號， :有則以發出超音波的時間為基準，騎自發射到接收回 ?…斤費的時間’再據此一時間換算成對應的距離 〔仏-仞+仞）。再理，於第二次時間内（第三圖Β所示）， ΐ控制第二超音波感測1 (")發射超音波信號，再由Solved. Qiao anti-J [invention] Loss, ^ in the above-mentioned existing reversing radar device practical application of misjudgment & Ming's main purpose of the invention is to provide a reversing radar that can avoid environmental dryness and effectively reduce false positive results. Brother interference & want to reach the purpose of the "L." The main technical means to make the car + prevent misjudgment include: 7. The first stage of the detection of the vehicle is _ π segment detection program is transmitted to the younger brother - segment interaction detection program, wherein the first line receives the second: each ultrasonic sensor self-transmits the ultrasonic signal and receives the echo signal. Γ The distance from the base to the launch, and then according to this time to calculate the obstacle Danyi-, this-distance to determine whether there are obstacles. Also, 1303229 second paragraph interactive detection procedure injured the main I ^ ^ Outside you mainly order a supersonic sensor to emit an ultrasonic signal' and then another supersonic nucleus receives the ultrasonic echo signal from ^ t 1 like t (three), and then reverses this - step, The ultrasonic sensor that received the echo last time transmits the ultrasonic signal, and then receives the echo signal from the ultrasonic sensor that previously transmitted the ultrasonic signal. Finally, the two time differences are calculated to the corresponding distance, and then Judging whether the two distances are close, the right 代表 represents the existence of an obstacle between the two ultrasonic sensing sensations, and sends out a report. I From the above description, we can see that the Taishou Japanese gentleman I + i 1 , this I month, the combination of the ultrasonic self-receiving detection program and the father mutual detection program, the combination of the ancient female handle is not ^ 4 4 reversing radar In order to reduce the chance of misjudgment, and to increase the accuracy of the overall judgment, the invention can increase the multiple judgment steps in the detection process of the younger brother, and the correctness of the detection result of the self-service is determined after the heavy cream is cut. [Embodiment] The method for preventing misjudgment of the present invention applied to a reversing radar mainly includes a section of a detection program and a second section of an interaction detection program, wherein the ... - the first section detection procedure is to cause each ultrasonic sensor Self-transmitting the ultrasonic signal and receiving the ultrasonic echo back by itself. Based on the transmission time, it is judged that the time taken from the transmission to the reception of the echo signal, and then the distance of the I1 early obstruction is calculated according to this time. Use this - distance to determine if there are obstacles, and if so, an alarm. As for the above-mentioned second-stage interactive detection program, it can be executed after the execution of the first segment=program, that is, the primary shilling of one ultrasonic sensor transmits the supersonic “tiger” and then receives the ultrasonic echo by another ultrasonic wave. The signal, then 6.1303229 reverses this step, that is, the ultrasonic sensor that received the echo received the previous time transmits the ultrasonic signal, and then the ultrasonic wave is sensed by the previous emission. The receiver receives the echo signal, and finally calculates the corresponding distance between the two people and the W-day difference, and determines whether the two distances are close to the pick-up, and 4 means that the two ultrasonic senses are true. There is an obstacle between the detectors, and an alarm is issued. The above-mentioned party to prevent false alarms, this technology / go to you, in a reversing radar (10), please refer to the second figure, 哕 you 丨 *; The π ° 亥 倒 倒 倒 倒 倒 倒 倒 倒 倒 倒 倒 倒 倒 倒 倒 倒 倒 倒 倒 倒 倒 倒 倒 倒 倒 倒 倒 倒 倒 倒 倒 倒 倒 倒 倒 倒 倒 倒 倒 倒 倒 倒 倒 倒 倒 倒The system includes the first detection private (5 〇) and the second segment interaction detection Sequence (β 〇); at least two ultrasonic sensors (1 2 ) (1 3 ) are respectively connected to the output end of the microprocessor (Η) through an ultrasonic transmitting circuit (14), and are respectively transmitted through - echo detection power ... 5) and analog digital conversion circuit (1 6 ) car 3 b ) connected to the input of the s 嘁 嘁 processor (1 1 ); and - alarm circuit (1)) is connected to the microprocessor (11): At the end, the microprocessor (11) controls the alarm circuit (17) to be closed. Then, the β-matching σ I is shown in the third figure, “the above microprocessor (1 1 ) 仃: stop block The police report program is a detailed flowchart of the present invention, wherein: the first segment detecting program (50) includes the following steps: simultaneously controlling two ultrasonic sensors to emit an ultrasonic signal (51); recording the transmitting ultrasonic time ( 52); and determine whether the ultrasonic signal (53) has been received, if yes, determine the time of the wave 1303229 and calculate the corresponding distance (54); otherwise, if not, return to the first step; determine whether an obstacle exists ( 55), if there is an alarm (57); if there is no right, the second interactive detection program (60) is executed. The echo generated by the interference of the south frequency sound is generated, so the first to third steps can be repeatedly performed several times, and the result of accumulating to a certain number f is determined to be determined after receiving the echo signal (56). Indeed _ there is an obstacle, and an alarm is issued (57). After the first detection procedure of the above, the second interactive detection program (60) is executed, which includes the time-controlled two ultrasonic sensing. The transmitter transmits and receives the ultrasonic signal (61) (63), between the system and the same one, only controls one of the ultrasonic sensors to emit the ultrasonic wave, and the f UI emits the ultrasonic time, and then controls the other ultrasonic sense. If the detector is connected to the σ skin, if there is a chopping echo, then the corresponding distance between the two groups (6 2 ) (64 ) can be calculated, so that two sets of distances (^ ) (this) can be obtained; φ and 埤Whether it is similar. (65), if it is, there is indeed an obstacle between the two ultrasonic waves, and an alarm is issued (66); otherwise, no. In the same day and the same day, as shown in the figure-figure and the third figure, it is determined by the above comparison whether there is an obstacle (2丄) between the two ultrasonic sensing states (1 2 ) ( 1 3 ). The knot I is not affected by the high frequency sound of its environment. That is, in the first time, the first ultrasonic sensor (1 2 ) is controlled by the microprocessor (1 1 ) to control the first ultrasonic sensor (1 2 ) to emit ultrasonic waves, and then the echo detecting circuit is transmitted through the ultrasonic detecting circuit (1). 5) and analog-to-digital conversion circuit (6) to obtain the second supersonic ice,: 目丨,, 8 1303229 :: second ultrasonic sensor (13) {no received echo signal, : there Then, based on the time when the ultrasonic wave is emitted, the time from the launch to the reception is collected. The time of the charge is converted into the corresponding distance [仏-仞+仞) according to this time. Again, in the second time (shown in Figure 3), ΐ controls the second ultrasonic sensing 1 (") to emit the ultrasonic signal, and then
:-超音波感測器（12)接收回波信號，並根據發射至 接收回波時間換算成距離（俲=仞+说）。 J 一由於弟一 ’第二時間所接收的回波信號有可能遭到環 i兄间頻聲音所影響，而造成誤判的結果，{以，本發 將兩次距離（.祕）加以比對，判斷其間誤差是否… 許的誤差範圍内（約±10cw)，若兩超音波感測器㈠2: (1 3 )之間確實因為存在共同障礙物（2 i )，則此 距離將會相近；反之，#兩距離相差甚遠，則代表回波作 =是因為受到環境高頻聲音所干擾，而不會發出警報聲 Ψ 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】 圖 圖。 弟圖·係本發明倒車雷達_較佳實施例的電路方塊 第二圖：係本發明方法應用於倒車雷達的詳細流程 9 1303229 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:- The ultrasonic sensor (12) receives the echo signal and converts it into a distance according to the time of transmission to the received echo (俲=仞+say). J. Because the echo signal received by the younger brother's second time may be affected by the inter-frequency frequency of the ring, and the result of misjudgment, {this, the two will compare the two distances (. secret) , to determine whether the error between them is within the error range (about ±10cw), if there is a common obstacle (2 i ) between the two ultrasonic sensors (1) 2: (1 3 ), the distance will be similar; On the other hand, if the distance between the two distances is far apart, it means that the echo is = because it is interfered by the ambient high-frequency sound, and the alarm sound is not emitted. From the above description, the present invention integrates the transmission and reception of two kinds of control ultrasonic sensors. The method increases the accuracy of judging obstacles and eliminates the misjudgment caused by high-frequency sounds in the environment. [Simple diagram of the diagram] Figure. The second embodiment of the circuit block of the preferred embodiment of the present invention is applied to the reversing radar of the present invention. 9 1303229 The third figure A, B: the obstacle is located in the two ultrasonic sensors. Schematic diagram between. The fourth picture: A, B: is a schematic diagram of the ultrasonic sensing range. [Main component symbol description] (1 0) Reversing radar (1 1) Microprocessor (1 2) Ultrasonic sensor (1 3 ) Ultrasonic sensor (1 4 ) Ultrasonic transmitting circuit (1 5 ) Wave detection circuit (1 6 ) analog digital conversion circuit (1 7 ) alarm circuit (2 0 ) vehicle (2 1 ) obstacle (3 0 ) road surface (3 1 ) ladder