Motor vehicle radar system and radar probe automatic addressing method thereof

Abstract

The embodiment of the present invention provides a motor vehicle radar system and a radar probe automatic addressing method thereof, the system includes an instrument module, two master radar probes and one to three slave radar probes, each master radar probe and the corresponding slave radar probe constitute a group of radar probes, each radar probe includes four pins: VCC pin, DATA pin, LIN pin and GND pin, the wiring rules of a single radar probe are as follows: VCC pin and GND pin are connected to the power bus and the ground bus respectively; the LIN pin and DATA pin of the master radar probe are connected to the LIN bus and the internal data line respectively; the DATA pin of the slave radar probe of one group of radar probes is left vacant or connected to the ground bus or the internal data line, and the LIN pin is connected to the internal data line; the DATA pin of the slave radar probe of another group of radar probes is connected to the internal data line, and the LIN pin is left vacant or connected to the ground bus or the internal data line. This embodiment can be compatible with a larger number of radar probes.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of motor vehicle radar technology, and in particular to a motor vehicle radar system and a radar probe automatic addressing method thereof. Background Art

[0002] At present, the existing hostless motor vehicle radar system usually uses multiple radar probes to detect obstacle information and output distance signals and address signals. Then the signal bus transmits the address signals and distance signals output by the radar probes to the display device. The display device determines the position of the radar probe installed on the vehicle body according to the different address signals output by each radar probe, and then obtains obstacle information and prompts the driver. However, the existing motor vehicle radar system generally only assigns different addresses to itself through the different wiring states of the LIN pin of the radar probe, so it can only be compatible with four radar probes at most. When the motor vehicle needs to install multiple radar probes at the front and rear positions of the vehicle body at the same time, it cannot be realized.

[0003] In order to be compatible with a larger number of hostless radar systems, there are currently two main solutions: one solution is to increase the number of pins of the radar probe (for example, the radar probe is set with six pins), thereby increasing the number of pins used by the radar probe for addressing pins. However, this solution increases the cost of the vehicle wiring harness and the design cost of the radar probe; the other solution uses a radar probe with a traditional number of pins, and the radar probe is connected in series. However, the communication efficiency of this solution is relatively low, and when a radar probe in the system fails, the entire system will not work, and the system stability is low. Summary of the invention

[0004] The technical problem to be solved by the embodiments of the present invention is to provide a radar system for a motor vehicle that is compatible with a larger number of radar probes for obstacle detection, has a lower cost, and has a stronger system stability.

[0005] A further technical problem to be solved by an embodiment of the present invention is to provide a radar probe automatic addressing method for a motor vehicle radar system, which is compatible with a larger number of radar probes for obstacle detection and can quickly determine the installation position of each radar probe.

[0006] In order to solve the above technical problems, the embodiment of the present invention provides the following technical solutions: a motor vehicle radar system, comprising an instrument module and two radar probes directly connected to the instrument module through a LIN bus, wherein the two radar probes directly connected to the instrument module through the LIN bus are set as master radar probes, each of the master radar probes is further connected to one to three radar probes set as slave radar probes through an internal data line, each master radar probe and the correspondingly connected slave radar probe constitute a group of radar probes, and radar probes of different groups are arranged at predetermined positions at opposite ends of the motor vehicle, each of the radar probes comprises four pins: a VCC pin, a DATA pin, a LIN pin and a GND pin, and the four pins of a single radar probe are combined and wired according to the following wiring rules:

[0007] The VCC pin and the GND pin are connected to a power bus and a ground bus respectively;

[0008] The LIN pin and DATA pin of the main radar sensor are connected to the LIN bus and the internal data line of the group respectively;

[0009] The DATA pin of each slave radar probe of a group of radar probes is selectively left vacant or connected to a ground bus or to an internal data line in the group, and the LIN pins are all connected to the internal data line in the group, and when the number of slave radar probes in the group is greater than or equal to two, the wiring methods of the DATA pins of the slave radar probes in the group are different;

[0010] The DATA pin of each slave radar probe of another group of radar probes is connected to an internal data line in the group, and the LIN pin is selected to be vacant or connected to a ground bus or to an internal data line in the group, and when the number of slave radar probes in the group is greater than or equal to two, the wiring methods of the LIN pins of the slave radar probes in the group are different;

[0011] The main radar probe of each group of radar probes collects the obstacle information measured by all radar probes in the same group through the internal data line and obtains obstacle distance data through comprehensive calculation, and then sends the obstacle distance data to the instrument module through the LIN bus.

[0012] Furthermore, each of the radar probes includes a main control chip, an ultrasonic sensor, an ultrasonic drive circuit, a LIN transceiver circuit, a data transceiver circuit, a DC voltage stabilizing circuit and an amplifying circuit. The DC voltage stabilizing circuit is connected to the ultrasonic drive circuit and the main control chip. The main control chip is connected to the LIN transceiver circuit and the data transceiver circuit on the one hand, and is connected to the ultrasonic sensor through the ultrasonic drive circuit and the amplifying circuit on the other hand. The DC voltage stabilizing circuit leads out the VCC pin, the data transceiver circuit leads out the DATA pin, the LIN transceiver circuit leads out the LIN pin, and the main control chip leads out the GND pin.

[0013] Furthermore, the data transceiver circuit includes an internal power supply, a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a diode D and a transistor Q, wherein the internal power supply is connected to the ground terminal through the first resistor R1, the second resistor R2 and the third resistor R3, the collector of the transistor Q is connected to the positive electrode of the diode D, the DATA pin and the line between the first resistor R1 and the second resistor R2 through the fourth resistor R4, the base and emitter of the transistor Q are respectively connected to the main control chip and the ground terminal, the cathode of the diode D is connected to the internal power supply, and the line between the second resistor R2 and the third resistor R3 is connected to the main control chip.

[0014] Furthermore, the instrument module includes:

[0015] a storage unit connected to the LIN bus, for pre-storing a configuration code having a vehicle model and the number and parameter information of radar probes corresponding to the vehicle model, and sending the configuration code to the main control chip of the main radar probe after receiving a configuration information request from the main control chip of the main radar probe; and

[0016] An alarm unit is connected to the LIN bus and is used to generate an alarm when the obstacle distance data detected by any of the radar probes is less than a predetermined threshold.

[0017] Furthermore, the instrument module also includes:

[0018] A fault display unit is connected to the LIN bus and is used for displaying a fault when any of the radar probes fails.

[0019] On the other hand, in order to solve the above further technical problems, an embodiment of the present invention provides a radar probe automatic addressing method based on the above motor vehicle radar system, comprising the following steps:

[0020] Power on the system;

[0021] Each radar probe feeds back and identifies two groups of main radar probes installed at different ends of the motor vehicle according to the identification information sent by the instrument module; and

[0022] Each master radar probe sends different instructions to the internal data lines in the group in turn. Each radar probe determines the installation position of each slave radar probe based on the instruction reception status and level status of its own DATA pin and LIN pin and a pre-stored data table reflecting the correspondence between the instruction reception status, level status and the installation position of each radar probe, and then determines the installation position of the master radar probe based on the slave radar probes with determined positions.

[0023] Further, each master radar probe is connected to three slave radar probes, each of which sends different instructions to the internal data lines in the group in sequence, and each radar probe determines the installation position of each slave radar probe according to the instruction reception status and level status of its own DATA pin and LIN pin and the pre-stored data table reflecting the corresponding relationship between the instruction reception status, level status and the installation position of each radar probe, and then determines the installation position of the master radar probe according to the slave radar probes with determined positions, specifically including:

[0024] Each main radar probe first sends a first instruction to the internal data line within the group;

[0025] Among the radar probes, the radar probe whose LIN pin receives the first instruction and whose DATA pin is continuously at a low level is identified as the slave radar probe at the A end c position of the motor vehicle, the radar probe whose LIN pin receives the first instruction and whose DATA pin is continuously at a high level is identified as the slave radar probe at the A end a position of the motor vehicle, the radar probe whose DATA pin receives the first instruction and whose LIN pin is continuously at a low level is identified as the slave radar probe at the B end c position of the motor vehicle, and the radar probe whose DATA pin receives the first instruction and whose LIN pin is continuously at a high level is identified as the slave radar probe at the B end a position of the motor vehicle;

[0026] Each master radar probe then sends a control instruction to the internal data line in the group to control the slave radar probes located at position c in the group to send a second instruction to the internal data line in the group; and

[0027] Among each radar probe, the slave radar probe that receives the second instruction sent by the slave radar probe located at the A end c and whose position is not identified is identified as the slave radar probe at the A end d of the motor vehicle, the main radar probe that receives the second instruction sent by the slave radar probe located at the A end c is identified as the main radar probe at the A end b of the motor vehicle, the slave radar probe that receives the second instruction sent by the slave radar probe located at the B end c and whose position is not identified is identified as the slave radar probe at the B end d of the motor vehicle, and the main radar probe that receives the second instruction sent by the slave radar probe located at the B end c is identified as the main radar probe at the B end b of the motor vehicle.

[0028] Furthermore, the identification information is a LIN message sent by the instrument module to the LIN bus when the instrument module is powered on.

[0029] After adopting the above technical scheme, the embodiment of the present invention has at least the following beneficial effects: the embodiment of the present invention sets two groups of radar probes disposed at different ends of the motor vehicle, each group of radar probes includes a radar probe as a main radar probe directly connected to the instrument module through a LIN bus and one to three radar probes as slave radar probes connected to the main radar probe through internal data lines, and the DATA pins of each slave radar probe in one group respectively adopt different wiring methods, and the LIN pins of each slave radar probe in the other group respectively adopt different wiring methods, and address allocation is achieved through the DATA pin and the LIN pin respectively, thereby, the instrument module can quickly and accurately identify the position of each radar probe after the system is powered on, this connection method has strong scalability, the total number of radar probes can reach up to eight, and the cost is low, the system stability is strong, and obstacle information can be better detected to ensure driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic structural diagram of an optional embodiment of the motor vehicle radar system of the present invention, which includes eight radar probes.

[0031] Figure 2 This is a block diagram of the internal structure of a radar probe of an optional embodiment of the automotive radar system of the present invention.

[0032] Figure 3 The diagram is a circuit diagram of a data forwarding circuit of an optional embodiment of a motor vehicle radar system of the present invention.

[0033] Figure 4 The present invention is a flowchart of the steps of an optional embodiment of the method for automatically addressing a radar probe of a motor vehicle radar system.

[0034] Figure 5This is a specific flow chart of step S3 of an optional embodiment of the method for automatically addressing a radar probe of a motor vehicle radar system of the present invention. DETAILED DESCRIPTION

[0035] The present application is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the following illustrative embodiments and descriptions are only used to explain the present invention and are not intended to limit the present invention. In addition, the embodiments and features in the embodiments of the present application may be combined with each other without conflict.

[0036] like Figure 1 As shown, an optional embodiment of the present invention provides a motor vehicle radar system, including an instrument module 1 and two radar probes 5 directly connected to the instrument module 1 through a LIN bus 3, wherein the two radar probes 5 directly connected to the instrument module 1 through the LIN bus 3 are set as master radar probes 5a, and each of the master radar probes 5a is also connected to one to three radar probes 5 set as slave radar probes 5b through an internal data line 50, each master radar probe 5a and the correspondingly connected slave radar probe 5b constitute a group of radar probes 5, and different groups of radar probes 5 are arranged at predetermined positions at opposite ends of the motor vehicle, each of the radar probes 5 includes four pins: a VCC pin, a DATA pin, a LIN pin and a GND pin, and the four pins of a single radar probe 5 are combined and wired according to the following wiring rules:

[0037] The VCC pin and the GND pin are connected to the power bus 7 and the ground bus 9 respectively;

[0038] The LIN pin and DATA pin of the master radar probe 5a are respectively connected to the LIN bus 3 and the internal data line 50 in the group; the DATA pin of each slave radar probe 5b in a group of radar probes 5 is selectively left vacant or connected to the ground bus 9 or connected to the internal data line 50 in the group, and the LIN pins are all connected to the internal data line 50 in the group, and when the number of slave radar probes 5b in the group is greater than or equal to two, the wiring methods of the DATA pins of each slave radar probe 5b in the group are different;

[0039] The DATA pin of each slave radar probe 5b of another group of radar probes 5 is connected to the internal data line 50 in the group, and the LIN pin is selectively left vacant or connected to the ground bus 9 or connected to the internal data line 50 in the group, and when the number of slave radar probes 5b in the group is greater than or equal to two, the wiring modes of the LIN pins of the slave radar probes 5b in the group are different;

[0040] The main radar probe 5 a of each group of radar probes 5 aggregates the obstacle information measured by all radar probes 5 in the same group through the internal data line 50 and obtains obstacle distance data through comprehensive calculation, and then sends the obstacle distance data to the instrument module 1 through the LIN bus 3 .

[0041] The embodiment of the present invention sets two groups of radar probes 5 which are arranged at different ends of the motor vehicle, each group of radar probes 5 includes a radar probe 5 as a main radar probe 5a which is directly connected to the instrument module 1 through the LIN bus 3 and one to three radar probes 5 as slave radar probes 5b which are connected to the main radar probe 5a through the internal data line 50, and the DATA pins of each slave radar probe 5b in one group respectively adopt different wiring methods, while the LIN pins of each slave radar probe 5b in the other group respectively adopt different wiring methods, and address allocation is achieved through the DATA pin and the LIN pin respectively. Therefore, the instrument module 1 can quickly and accurately identify the position of each radar probe 5 after the system is powered on. This connection method has strong scalability, the total number of radar probes 5 can reach up to eight, and the cost is low. The system has strong stability, and can better detect obstacle information to ensure driving safety.

[0042] In a specific implementation, the wiring method of the radar probe 5 of the motor vehicle radar system of the present invention is as follows:

[0043]

[0044]

[0045] In addition, in the specific implementation, since the DATA pin is pulled up by default, the DATA pin is connected to the ground bus 7 and is pulled down to be used as an address identification; wherein, the second and sixth wiring methods shown represent the main radar probe 5a.

[0046] In an optional embodiment of the present invention, Figure 2 As shown, each of the radar probes 5 includes a main control chip 50, an ultrasonic sensor 51, an ultrasonic drive circuit 52, a LIN transceiver circuit 53, a data transceiver circuit 54, a DC voltage stabilizing circuit 55 and an amplifier circuit 56. The DC voltage stabilizing circuit 55 is connected to the ultrasonic drive circuit 52 and the main control chip 50. The main control chip 50 is connected to the LIN transceiver circuit 53 and the data transceiver circuit 54 on the one hand, and is connected to the ultrasonic sensor 51 through the ultrasonic drive circuit 52 and the amplifier circuit 56 on the other hand. The DC voltage stabilizing circuit 55 leads to the VCC pin, the data transceiver circuit 54 leads to the DATA pin, the LIN transceiver circuit 53 leads to the LIN pin, and the main control chip 50 leads to the GND pin.

[0047] In this embodiment, the radar probe 5 includes a main control chip 50, an ultrasonic sensor 51, an ultrasonic drive circuit 52, a LIN transceiver circuit 53, a data transceiver circuit 54, a DC voltage regulator circuit 55 and an amplifier circuit 56, which realizes the detection of obstacles. Moreover, the data transceiver circuit 54 and the LIN transceiver circuit 53 correspond to the radar probe 5 receiving and sending data and outputting different address signals according to the different external wiring states of the DATA pin and the LIN pin, so that when the ID pin is connected to different external wirings, the radar probe 5 can be powered, receive and send data, and output address signals. In specific implementation, the amplifier circuit 55 can use a two-stage operational amplifier.

[0048] In an optional embodiment of the present invention, Figure 3 As shown, the data transceiver circuit 53 includes an internal power supply 531, a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a diode D and a transistor Q, wherein the internal power supply 531 is connected to the ground terminal through the first resistor R1, the second resistor R2 and the third resistor R3, the collector of the transistor Q is connected to the positive electrode of the diode D, the DATA pin and the line between the first resistor R1 and the second resistor R2 through the fourth resistor R4, the base and emitter of the transistor Q are respectively connected to the main control chip 50 and the ground terminal, the cathode of the diode D is connected to the internal power supply 531, and the line between the second resistor R2 and the third resistor R3 is connected to the main control chip 50. In this embodiment, when the DATA pin is used for address recognition, the voltage adopting circuit composed of the first resistor R1, the second resistor R2 and the third resistor R3 is used, and the main control chip 50 recognizes different voltage values ​​to achieve different address allocations; when the DATA pin is used for sending and receiving data, the data transceiver circuit composed of the fourth resistor R4 and the transistor Q interacts with the main control chip 50. One circuit realizes two functions according to different external wiring, which is very convenient. In specific implementation, the internal power supply 531 is a 12V voltage source. Figure 4 As shown in the figure, MCU_RX is the data receiving pin of the main control chip 50, and MCU_TX is connected to the data sending pin of the main control chip 50.

[0049] In an optional embodiment of the present invention, Figure 1 As shown, the instrument module 1 includes:

[0050] a storage unit 10 connected to the LIN bus 3, for pre-storing a configuration code having a vehicle model and the number and parameter information of the radar probes 5 corresponding to the vehicle model, and sending the configuration code to the main control chip 50 of the main radar probe 5a after receiving a configuration information request from the main control chip of the main radar probe 5a; and

[0051] The alarm unit 12 is connected to the LIN bus 3 and is used to generate an alarm when the obstacle distance data detected by any of the radar probes 5 is less than a predetermined threshold.

[0052] In this embodiment, the storage unit 10 also pre-stores a configuration code having the model of the motor vehicle and the number and parameter information of the radar probes 5 corresponding to the model, and after receiving a configuration information request from the main control chip 50 of the main radar probe 5a, the configuration code is sent to the main control chip 50 of the main radar probe 5a, and the main control chip 50 of the main radar probe 5a is initialized, and different configurations are performed according to different models of motor vehicles, thereby improving the versatility of the motor vehicle radar system of the present invention; and the alarm unit 12 issues an alarm when the obstacle distance data detected by any of the radar probes 5 is less than a predetermined threshold value, reminding the driver and ensuring the practicality of obstacle detection.

[0053] In an optional embodiment of the present invention, Figure 1 As shown, the instrument module 1 also includes:

[0054] The fault display unit 14 is connected to the LIN bus 3 and is used to display a fault when any of the radar probes 5 fails. In this embodiment, the fault display unit 14 is provided to display a fault when any of the radar probes 5 fails, thereby realizing self-checking of the radar probe 5, making it convenient for the driver to understand the existence of the fault and perform maintenance in time.

[0055] On the other hand, Figure 4 As shown, an embodiment of the present invention provides a radar probe automatic addressing method based on the above-mentioned motor vehicle radar system, comprising the following steps:

[0056] S1: System power on;

[0057] S2: Each radar probe 5 feeds back the identification information sent by the instrument module 1 to identify two groups of main radar probes 5a installed at different ends of the motor vehicle; and

[0058] S3: Each master radar probe 5a sends different instructions to the internal data line 50 in the group respectively and successively, and each radar probe 5 determines the installation position of each slave radar probe 5 according to the instruction reception status and level status of its own DATA pin and LIN pin and the pre-stored data table reflecting the correspondence between the instruction reception status, level status and the installation position of each radar probe 5, and then determines the installation position of the master radar probe 5a according to the slave radar probe 5b with the determined position.

[0059] In this embodiment, the above method is adopted, by first identifying two main radar probes 5a from each radar probe 5, and then, since the instruction receiving state and level state of the DATA pin and the LIN pin of each slave radar probe 5b are different, the position of each slave radar probe 5b of each group of radar probes 5 can be determined by judging the instruction receiving state and level state of the DATA pin and the LIN pin, and finally the position of the main radar probe 5a of the same group is judged by the position of the slave radar probe 5b, so that the addressing process is simple and the addressing efficiency is high. In a specific implementation, the A end and the B end of the motor vehicle can refer to the front and rear of the motor vehicle, and the four positions a, b, c, and d can refer to the left, the left middle, the right middle, and the right, respectively.

[0060] In an optional embodiment of the present invention, Figure 1 and Figure 5 As shown, each master radar probe 5a is connected to three slave radar probes 5b, and step S3 specifically includes:

[0061] S31: Each main radar probe 5a first sends a first instruction to the internal data line 50 in the group;

[0062] S32: among the radar probes 5, the radar probe 5 whose LIN pin receives the first instruction and whose DATA pin is continuously at a low level is identified as the slave radar probe 5b at the A end c position of the motor vehicle, the radar probe 5 whose LIN pin receives the first instruction and whose DATA pin is continuously at a high level is identified as the slave radar probe 5b at the A end a position of the motor vehicle, the radar probe 5 whose DATA pin receives the first instruction and whose LIN pin is continuously at a low level is identified as the slave radar probe 5b at the B end c position of the motor vehicle, and the radar probe 5 whose DATA pin receives the first instruction and whose LIN pin is continuously at a high level is identified as the slave radar probe 5b at the B end a position of the motor vehicle;

[0063] S33: Each master radar probe 5a then sends a control instruction to the internal data line 50 in the group to control the slave radar probe 5b at position c in the group to send a second instruction to the internal data line 50 in the group; and

[0064] S34: Among each radar probe 5, the slave radar probe 5b that is located at the A end c position and receives the second instruction sent by the slave radar probe 5b and has not identified its position is identified as the slave radar probe 5b at the A end d position of the motor vehicle; the main radar probe 5a that receives the second instruction sent by the slave radar probe 5b located at the A end c position is identified as the main radar probe 5a at the A end b position of the motor vehicle; the slave radar probe 5b that receives the second instruction sent by the slave radar probe 5b located at the B end c position and has not identified its position is identified as the slave radar probe 5b at the B end d position of the motor vehicle; the main radar probe 5a that receives the second instruction sent by the slave radar probe 5b located at the B end c position is identified as the main radar probe 5a at the B end b position of the motor vehicle.

[0065] In this embodiment, when the number of slave radar probes 5b in the same group is three, since the DATA pin and the LIN pin are both high level when idle, they will be pulled low when the DATA pin and the LIN pin are connected to the ground bus 9 accordingly. Therefore, through the different wiring methods of the LIN pin and the DATA pin of the four slave radar probes 5b at the A end c position, the A end a position, the B end c position and the B end a position, the installation positions of the four slave radar probes 5b can be determined first, and then the second instruction is sent to the internal data line 50 in the group by the slave radar probe 5b at the A end c position and the slave radar probe 5b at the B end c position respectively. By judging the instruction reception status of each radar probe 5, the remaining slave radar probe 5b in the same group and the master radar probe 5a in the same group can be distinguished, and the addressing process is efficient.

[0066] In an optional embodiment of the present invention, the identification information is a LIN message sent to the LIN bus by the instrument module 1 when it is powered on. In this embodiment, since only the main radar probe 5a is connected to the instrument module 1 via the LIN bus 3, the main radar probe 5a can be quickly and accurately identified by judging the way of receiving the LIN message.

[0067] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, which all belong to the protection scope of the present invention.

Claims

1. A motor vehicle radar system, comprising an instrument module and two radar probes directly connected to the instrument module via a LIN bus, characterized in that: The two radar probes directly connected to the instrument module through the LIN bus are set as master radar probes. Each of the master radar probes is also connected to one to three radar probes set as slave radar probes through internal data lines. Each master radar probe and the corresponding slave radar probe constitute a group of radar probes, and different groups of radar probes are set at predetermined positions at opposite ends of the motor vehicle. Each of the radar probes includes four pins: a VCC pin, a DATA pin, a LIN pin and a GND pin. The four pins of a single radar probe are combined and wired according to the following wiring rules: The VCC pin and the GND pin are connected to a power bus and a ground bus respectively; The LIN pin and DATA pin of the main radar sensor are connected to the LIN bus and the internal data line of the group respectively; The DATA pin of each slave radar probe of a group of radar probes is selectively left vacant or connected to a ground bus or to an internal data line in the group, and the LIN pins are all connected to the internal data line in the group, and when the number of slave radar probes in the group is greater than or equal to two, the wiring methods of the DATA pins of the slave radar probes in the group are different; The DATA pin of each slave radar probe of another group of radar probes is connected to an internal data line in the group, and the LIN pin is selected to be vacant or connected to a ground bus or to an internal data line in the group, and when the number of slave radar probes in the group is greater than or equal to two, the wiring methods of the LIN pins of the slave radar probes in the group are different; The main radar probe of each group of radar probes collects the obstacle information measured by all radar probes in the same group through the internal data line and obtains obstacle distance data through comprehensive calculation, and then sends the obstacle distance data to the instrument module through the LIN bus.

2. The automotive radar system according to claim 1, characterized in that: Each of the radar probes includes a main control chip, an ultrasonic sensor, an ultrasonic drive circuit, a LIN transceiver circuit, a data transceiver circuit, a DC voltage stabilizing circuit and an amplifier circuit. The DC voltage stabilizing circuit is connected to the ultrasonic drive circuit and the main control chip. The main control chip is connected to the LIN transceiver circuit and the data transceiver circuit on the one hand, and is connected to the ultrasonic sensor through the ultrasonic drive circuit and the amplifier circuit on the other hand. The DC voltage stabilizing circuit leads out the VCC pin, the data transceiver circuit leads out the DATA pin, the LIN transceiver circuit leads out the LIN pin, and the main control chip leads out the GND pin.

3. The automotive radar system according to claim 2, characterized in that: The data transceiver circuit includes an internal power supply, a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a diode D and a transistor Q, wherein the internal power supply is connected to the ground terminal through the first resistor R1, the second resistor R2 and the third resistor R3, the collector of the transistor Q is connected to the positive electrode of the diode D, the DATA pin and the line between the first resistor R1 and the second resistor R2 through the fourth resistor R4, the base and emitter of the transistor Q are respectively connected to the main control chip and the ground terminal, the cathode of the diode D is connected to the internal power supply, and the line between the second resistor R2 and the third resistor R3 is connected to the main control chip.

4. The automotive radar system according to claim 2, characterized in that: The instrument module comprises: a storage unit connected to the LIN bus, for pre-storing a configuration code having a vehicle model and the number and parameter information of radar probes corresponding to the vehicle model, and sending the configuration code to the main control chip of the main radar probe after receiving a configuration information request from the main control chip of the main radar probe; and An alarm unit is connected to the LIN bus and is used to generate an alarm when the obstacle distance data detected by any of the radar probes is less than a predetermined threshold.

5. The automotive radar system according to claim 4, characterized in that: The instrument module also includes: A fault display unit is connected to the LIN bus and is used for displaying a fault when any of the radar probes fails.

6. A radar probe automatic addressing method based on a motor vehicle radar system according to any one of claims 1 to 5, characterized in that: The method comprises the following steps: Power on the system; Each radar probe feeds back and identifies two groups of main radar probes installed at different ends of the motor vehicle according to the identification information sent by the instrument module; and Each master radar probe sends different instructions to the internal data lines in the group in turn. Each radar probe determines the installation position of each slave radar probe based on the instruction reception status and level status of its own DATA pin and LIN pin and a pre-stored data table reflecting the correspondence between the instruction reception status, level status and the installation position of each radar probe, and then determines the installation position of the master radar probe based on the slave radar probes with determined positions.

7. The radar probe automatic addressing method of a motor vehicle radar system as claimed in claim 6, characterized in that: Each master radar probe is connected to three slave radar probes, each of which sends different instructions to the internal data lines in the group in sequence, and each radar probe determines the installation position of each slave radar probe according to the instruction reception status and level status of its own DATA pin and LIN pin and the pre-stored data table reflecting the corresponding relationship between the instruction reception status, level status and the installation position of each radar probe, and then determines the installation position of the master radar probe according to the slave radar probes with determined positions, specifically including: Each main radar probe first sends a first instruction to the internal data line within the group; Among the radar probes, the radar probe whose LIN pin receives the first instruction and whose DATA pin is continuously at a low level is identified as the slave radar probe at the A end c position of the motor vehicle, the radar probe whose LIN pin receives the first instruction and whose DATA pin is continuously at a high level is identified as the slave radar probe at the A end a position of the motor vehicle, the radar probe whose DATA pin receives the first instruction and whose LIN pin is continuously at a low level is identified as the slave radar probe at the B end c position of the motor vehicle, and the radar probe whose DATA pin receives the first instruction and whose LIN pin is continuously at a high level is identified as the slave radar probe at the B end a position of the motor vehicle; Each master radar probe then sends a control instruction to the internal data line in the group to control the slave radar probes located at position c in the group to send a second instruction to the internal data line in the group; and Among each radar probe, the slave radar probe that receives the second instruction sent by the slave radar probe located at position c of the A end and does not identify its position is identified as the slave radar probe at position d of the A end of the motor vehicle, the main radar probe that receives the second instruction sent by the slave radar probe located at position c of the A end is identified as the main radar probe at position b of the A end of the motor vehicle, the slave radar probe that receives the second instruction sent by the slave radar probe located at position c of the B end and does not identify its position is identified as the slave radar probe at position d of the B end of the motor vehicle, and the main radar probe that receives the second instruction sent by the slave radar probe located at position c of the B end is identified as the main radar probe at position b of the B end of the motor vehicle.

8. The radar probe automatic addressing method of a motor vehicle radar system as claimed in claim 6, characterized in that: The identification information is a LIN message sent by the instrument module to the LIN bus when the instrument module is powered on.

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