Millimeter wave radar installation position self-detection system and self-detection method

Abstract

The invention provides a millimeter-wave radar installation position self-detection system and a millimeter-wave radar installation position self-detection method, and belongs to the field of automobile radar fault diagnos.The millimeter-wave radar installation position self-detection system comprises a sensor module, a millimeter-wave radar, a control module and a display module, when a vehicle runs linearly at a constant speed, the millimeter-wave radar detects a static target point near a running path of the vehicle, and the control module calculates a mounting angle value of the millimeter-wave radar according to the speed of the vehicle and the radial speed of the vehicle and the static target point. The control module compares the current installation angle value of the millimeter-wave radar with the initial installation angle value of the millimeter-wave radar, and when an error exceeds a set range, the control module judges that the millimeter-wave radar has an installation position fault and sends an alarm signal to the display module. According to the invention, all hardware devices of the automobile are integrated, the installation angle of the millimeter wave radar is detected, and the safety of the automobile is improved.

Description

Technical Field

[0001] The invention belongs to the field of automobile radar fault diagnosis, and in particular relates to a millimeter wave radar installation position self-detection system and a self-detection method. Background Art

[0002] Currently, there are 1 to 5 millimeter-wave radars installed on cars with intelligent driving, most of which are installed inside the front and rear bumpers. They detect the outside by emitting millimeter waves and processing the echoes, and are used for environmental perception and related functions in the intelligent driving system.

[0003] Because the sensor is mostly installed in the bumper, its installation status cannot be directly observed with the naked eye. The bumper is a plastic part and can mostly rebound to its original state after a collision. The internal millimeter-wave radar may be installed offset or the bracket or body may be damaged due to the collision. In this case, the millimeter-wave radar will deviate from the external environment detection, and there will be a large gap between the detected surrounding environment and the actual environment. As a result, the alarm accuracy of related functions will be reduced or even the function will fail.

[0004] Chinese patent 112904291B provides a Doppler weather radar fault diagnosis system based on coding, including a communication module, which is respectively connected to a fault information collection module and a fault phenomenon description input module, and is used to communicate with the radar and the client respectively; a fault information collection module, which is used to collect fault monitoring information in the radar machine; a fault phenomenon description input module, which is used to input the fault phenomenon description of the radar; a fault diagnosis calculation module, which is respectively connected to the fault information collection module and the fault phenomenon description input module, and is used to calculate the radar fault according to the fault monitoring information and the fault phenomenon description, and locate the minimum replaceable unit; and also provides a Doppler weather radar fault diagnosis method based on coding.

[0005] The existing technology for detecting radar faults mainly focuses on detecting faults inside the radar, without considering the situation where the radar position changes due to the fault, which will affect the normal use of the radar and it is difficult to find the fault when the radar position shifts. Summary of the invention

[0006] The present invention aims to provide a millimeter-wave radar installation position self-detection system and a self-detection method, so as to achieve the technical effect of detecting the installation angle of a vehicle millimeter-wave radar.

[0007] In order to achieve the above object, the technical solution adopted by the present invention is:

[0008] The present invention provides a millimeter-wave radar installation position self-detection system, comprising a sensor module, a millimeter-wave radar, a control module and a display module, wherein the output end of the sensor module is connected to the input end of the control module, the output end of the millimeter-wave radar is connected to the input end of the control module, and the output end of the control module is connected to the input end of the display module.

[0009] The sensor module inputs the automobile status information to the control module, the millimeter wave radar inputs the external information to the control module, and the control module outputs the alarm signal to the display module.

[0010] The sensor module includes a vehicle speed sensor, a yaw rate sensor and a steering angle sensor.

[0011] The output end of the vehicle speed sensor is connected to the input end of the control module, the output end of the yaw rate sensor is connected to the input end of the control module, and the output end of the steering angle sensor is connected to the input end of the control module.

[0012] The control module adopts an electronic control unit.

[0013] The display module adopts a vehicle-mounted display screen.

[0014] The present invention provides a millimeter wave radar installation position self-detection method:

[0015] Step 1: The control module detects the vehicle status information through the sensor module, and performs the next operation when it is determined that the vehicle is traveling in a straight line at a constant speed;

[0016] Step 2: The millimeter-wave radar detects a stationary target point near the vehicle's driving path. The control module calculates the installation angle value of the millimeter-wave radar based on the vehicle's own speed detected by the vehicle speed sensor and the radial speed of the vehicle and the stationary target point detected by the millimeter-wave radar.

[0017] Step 3: The control module counts the installation angle values ​​of the millimeter-wave radar and obtains the mean value of the installation angle values ​​of the millimeter-wave radar through normal distribution. The control module takes the mean value of the installation angle values ​​of the millimeter-wave radar as the current installation angle value of the millimeter-wave radar.

[0018] Step 4: The control module compares the current millimeter-wave radar installation angle value with the initial millimeter-wave radar installation angle value. When the error exceeds the set range, the control module determines that the millimeter-wave radar has an installation position failure and sends an alarm signal to the display module.

[0019] In step one, the control module detects the driving speed of the car through a vehicle speed sensor, the control module detects the angular velocity of the car rotating around its vertical axis through a yaw rate sensor, and the control module detects the rotation angle of the car's steering wheel through a steering angle sensor.

[0020] In step 4, the initial millimeter-wave radar installation angle value is stored in the control module when the car leaves the factory.

[0021] The technical effects of the present invention are:

[0022] (1) The present invention uses a yaw rate sensor and a steering angle sensor to jointly determine whether the driving direction of the vehicle has changed, thereby improving the accuracy of determining the driving direction of the vehicle.

[0023] (2) The present invention collects a large number of millimeter-wave radar installation angle values, and selects the current millimeter-wave radar installation angle value on this basis, thereby improving the accuracy of the data.

[0024] (3) The present invention integrates various hardware devices of the automobile and expands the functions on this basis to detect the installation angle of the millimeter-wave radar, thereby preventing the driver's judgment from being affected by the problem of the radar installation position, thereby improving the safety of the automobile. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] This specification includes the following drawings, which show the following contents:

[0026] Figure 1 A logic structure block diagram of a millimeter wave radar installation position self-detection system and a self-detection method of the present invention;

[0027] Figure 1 Marked as: 1. sensor module; 2. millimeter wave radar; 3. control module; 4. display module. DETAILED DESCRIPTION

[0028] The specific implementation methods of the present invention are further explained in detail below by describing the embodiments with reference to the accompanying drawings, with the aim of helping those skilled in the art to have a more complete, accurate and in-depth understanding of the inventive concept and technical solution of the present invention and facilitating their implementation.

[0029] The present invention provides a millimeter wave radar installation position self-detection system, comprising a sensor module 1, a millimeter wave radar 2, a control module 3 and a display module 4, wherein the output end of the sensor module 1 is connected to the input end of the control module 3, the output end of the millimeter wave radar 2 is connected to the input end of the control module 3, and the output end of the control module 3 is connected to the input end of the display module 4. The sensor module 1 inputs vehicle status information to the control module 3, the millimeter wave radar 2 inputs external information to the control module 3, and the control module 3 outputs an alarm signal to the display module 4.

[0030] The sensor module 1 includes a vehicle speed sensor, a yaw rate sensor and a steering angle sensor. The output end of the vehicle speed sensor is connected to the input end of the control module 3, the output end of the yaw rate sensor is connected to the input end of the control module 3, and the output end of the steering angle sensor is connected to the input end of the control module 3.

[0031] The control module 3 adopts an electronic control unit. The display module 4 adopts a vehicle-mounted display screen.

[0032] The present invention provides a millimeter wave radar installation position self-detection method:

[0033] Step 1: The control module 3 detects the vehicle status information through the sensor module 1, and performs the next operation when it is determined that the vehicle is traveling in a straight line at a constant speed;

[0034] Step 2: The millimeter-wave radar 2 detects a stationary target point near the vehicle's driving path, and the control module 3 calculates the installation angle value of the millimeter-wave radar 2 based on the vehicle's own speed detected by the vehicle speed sensor and the radial speed of the vehicle and the stationary target point detected by the millimeter-wave radar 2.

[0035] Step three: the control module 3 counts the installation angle values ​​of the millimeter-wave radar 2 and obtains the mean value of the installation angle values ​​of the millimeter-wave radar 2 through normal distribution. The control module 3 takes the mean value of the installation angle values ​​of the millimeter-wave radar 2 as the current installation angle value of the millimeter-wave radar 2.

[0036] Step 4: The control module 3 compares the current installation angle value of the millimeter-wave radar 2 with the initial installation angle value of the millimeter-wave radar 2. When the error exceeds the set range, the control module 3 determines that the millimeter-wave radar 2 has an installation position failure and sends an alarm signal to the display module 4.

[0037] In step 1, the control module 3 detects the driving speed of the car through the vehicle speed sensor, the control module 3 detects the angular velocity of the car rotating around its vertical axis through the yaw rate sensor, and the control module 3 detects the rotation angle of the car steering wheel through the steering angle sensor.

[0038] In step 4, the initial installation angle value of the millimeter wave radar 2 is stored in the control module 3 when the car leaves the factory.

[0039] The following is a detailed introduction to a millimeter wave radar installation position self-detection system and a self-detection method of the present invention.

[0040] A millimeter wave radar installation position self-detection system of the present invention comprises a sensor module 1, a millimeter wave radar 2, a control module 3 and a display module 4. The sensor module 1 comprises a vehicle speed sensor, a yaw rate sensor and a steering angle sensor, wherein the vehicle speed sensor is used to detect the driving speed of the car; the yaw rate sensor is used to detect the angular velocity of the car rotating around its vertical axis to determine whether the car changes the driving direction; the steering angle sensor is used to detect the rotation angle of the car steering wheel to determine whether the driver changes the driving direction of the car through the steering wheel. The millimeter wave radar 2 adopts a 4D imaging millimeter wave radar to detect the shape of the target and the distance between itself and the target. The control module 3 adopts an electronic control unit (ECU) to determine whether the car is driving in a straight line at a uniform speed, and calculates the installation angle value of the millimeter wave radar 2 to determine whether the installation position of the millimeter wave radar 2 is faulty. The electronic control unit in the present invention adopts a BOSCH M7 Series model ECU. The display module 4 adopts a vehicle-mounted display screen to issue a warning when a fault occurs in the installation position of the millimeter wave radar 2, prompting the driver that the installation angle of the millimeter wave radar 2 is faulty. The present invention determines whether the driving direction of the vehicle changes by using a yaw rate sensor and a steering angle sensor, thereby improving the accuracy of determining the driving direction of the vehicle.

[0041] The output end of the vehicle speed sensor is connected to the input end of the electronic control unit, the output end of the yaw rate sensor is connected to the input end of the electronic control unit, and the output end of the steering angle sensor is connected to the input end of the electronic control unit. The output end of the millimeter wave radar 2 is connected to the input end of the electronic control unit. The output end of the electronic control unit is connected to the input end of the vehicle display screen.

[0042] The specific steps of a millimeter wave radar installation position self-detection method of the present invention are:

[0043] During the driving process of the vehicle, the vehicle speed sensor detects the driving speed of the vehicle and inputs the driving speed information of the vehicle to the electronic control unit, the yaw rate sensor detects the angular velocity of the vehicle rotating around its vertical axis and inputs the angular velocity information of the vehicle rotating around its vertical axis to the electronic control unit, and the steering angle sensor detects the rotation angle of the vehicle steering wheel and inputs the rotation angle information of the vehicle steering wheel to the electronic control unit. When the driving speed of the vehicle remains unchanged, the angular velocity of the vehicle rotating around its vertical axis is zero, and the rotation angle of the vehicle steering wheel is zero, the electronic control unit determines that the vehicle is driving at a constant speed.

[0044] When the electronic control unit determines that the car is traveling at a constant speed, the millimeter wave radar 2 detects a stationary target point near the car's driving path. In the embodiment of the present invention, the stationary target point is a road sign pole. The electronic control unit calculates the installation angle value of the millimeter wave radar 2 based on the car's own speed detected by the vehicle speed sensor and the radial speed of the car and the stationary target point detected by the millimeter wave radar 2. The calculation formula is as follows:

[0045]

[0046] Where α is the installation angle value of the millimeter wave radar 2, V1 is the radial velocity between the vehicle and the stationary target point, and V2 is the vehicle's own velocity.

[0047] The electronic control unit obtains the installation angle values ​​of the millimeter-wave radar 2 through statistical calculation and obtains the mean value of the installation angle values ​​of the millimeter-wave radar 2 through normal distribution, and the electronic control unit takes the mean value of the installation angle values ​​of the millimeter-wave radar 2 as the current installation angle value of the millimeter-wave radar 2. The present invention collects a large number of installation angle values ​​of the millimeter-wave radar 2, and selects the current installation angle value of the millimeter-wave radar on this basis, thereby improving the accuracy of the data.

[0048] The electronic control unit compares the current millimeter-wave radar installation angle value with the initial millimeter-wave radar installation angle value. When the error exceeds the preset range, the electronic control unit determines that the millimeter-wave radar 2 has an installation position fault, and sends an alarm signal to the vehicle display screen. The vehicle display screen displays the millimeter-wave radar 2 fault warning icon, prompting the driver that the installation angle of the millimeter-wave radar 2 is faulty. The initial millimeter-wave radar installation angle value in the present invention is stored in the electrically erasable programmable read-only memory (EEPROM) in the electronic control unit when the car leaves the factory. The general millimeter-wave radar installation angle range is 40-55°. In the embodiment of the present invention, the millimeter-wave radar installation angle value in front of the vehicle is 50°. The error calculation formula is:

[0049]

[0050] Where E is the error, is the initial millimeter wave radar installation angle value, is the current millimeter wave radar installation angle value. The error E range is defined by the electronic control unit. The error E in the present invention normally does not exceed 1%. When the error exceeds 1%, it is determined that the installation position of the millimeter wave radar 2 is faulty.

[0051] The present invention integrates various hardware devices of the automobile, expands functions on this basis, detects the installation angle of the millimeter wave radar 2, prevents the driver's judgment from being affected by the fault of the radar installation position, and improves the safety of the automobile.

[0052] The present invention is described above by way of example in conjunction with the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-mentioned methods. As long as various non-substantial improvements are made using the method concept and technical solution of the present invention; or the above concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. A millimeter wave radar installation position self-detection system, characterized in that: It includes a sensor module, a millimeter-wave radar, a control module and a display module. The output end of the sensor module is connected to the input end of the control module, the output end of the millimeter-wave radar is connected to the input end of the control module, and the output end of the control module is connected to the input end of the display module.

2. A millimeter wave radar installation position self-detection system as claimed in claim 1, characterized in that: The sensor module inputs vehicle status information to the control module, the millimeter wave radar inputs external information to the control module, and the control module outputs an alarm signal to the display module.

3. A millimeter wave radar installation position self-detection system as claimed in claim 1, characterized in that: The sensor module includes a vehicle speed sensor, a yaw rate sensor and a steering angle sensor.

4. A millimeter wave radar installation position self-detection system as claimed in claim 1 or 3, characterized in that: The output end of the vehicle speed sensor is connected to the input end of the control module, the output end of the yaw rate sensor is connected to the input end of the control module, and the output end of the steering angle sensor is connected to the input end of the control module.

5. The millimeter wave radar installation position self-detection system according to claim 1, characterized in that: The control module adopts an electronic control unit.

6. A millimeter wave radar installation position self-detection system as claimed in claim 1, characterized in that: The display module adopts a vehicle-mounted display screen.

7. A millimeter wave radar installation position self-detection method according to any one of claims 1 to 6, characterized in that: Step 1: The control module detects the vehicle status information through the sensor module, and performs the next operation when it is determined that the vehicle is traveling in a straight line at a constant speed; Step 2: The millimeter-wave radar detects a stationary target point near the vehicle's driving path. The control module calculates the installation angle value of the millimeter-wave radar based on the vehicle's own speed detected by the vehicle speed sensor and the radial speed of the vehicle and the stationary target point detected by the millimeter-wave radar. Step 3: The control module counts the installation angle values ​​of the millimeter-wave radar and obtains the mean value of the installation angle values ​​of the millimeter-wave radar through normal distribution. The control module takes the mean value of the installation angle values ​​of the millimeter-wave radar as the current installation angle value of the millimeter-wave radar. Step 4: The control module compares the current millimeter-wave radar installation angle value with the initial millimeter-wave radar installation angle value. When the error exceeds the set range, the control module determines that the millimeter-wave radar has an installation position failure and sends an alarm signal to the display module.

8. A millimeter wave radar installation position self-detection method as claimed in claim 7, characterized in that: In step one, the control module detects the driving speed of the car through a vehicle speed sensor, the control module detects the angular velocity of the car rotating around its vertical axis through a yaw rate sensor, and the control module detects the rotation angle of the car's steering wheel through a steering angle sensor.

9. The millimeter wave radar installation position self-detection method according to claim 7, characterized in that: In step 4, the initial millimeter-wave radar installation angle value is stored in the control module when the car leaves the factory.

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