Short-distance anti-collision system and method

Abstract

The invention discloses a short-distance anti-collision system and method. The short-distance anti-collision system comprises a control device, a communication device and a ranging radar. Wherein the more than two range radars are arranged on the mobile carrier in a surrounding manner. The control device is connected with all the range radars and is in communication connection with the remote platform and the carrier controller through the communication device. According to the invention, a plurality of range radars are arranged around the whole body of the mobile carrier, and the comprehensive range finding data of all range radars in the same direction are obtained when the mobile carrier moves, so that whether the mobile carrier can continue to advance in the direction or not is judged, and the problem of a visual blind area of a camera does not exist; the obstacle distance information in the moving direction can be accurately obtained, collision is effectively prevented, and the driving safety of the unmanned vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of driverless technology, and particularly to a short-distance anti-collision system and method. Background Art

[0002] Driverless vehicles are the main trend of future development in the automotive field. The safety of driverless vehicles has always been a problem that we must seriously consider and solve. Vehicle anti-collision is one of the safety issues of driverless vehicles. Currently, the solution for anti-collision on vehicles is to install cameras to add visual functions to driverless vehicles. Remote operators can observe the conditions around the vehicle at a long distance for safe driving.

[0003] However, the camera itself has blind spots and relatively high costs. Installing multiple cameras on the vehicle is also rather cumbersome. For driverless vehicles in situations with many and complex surrounding obstacles, if there is only a simple camera visual function, it will not be able to meet the requirements and there is still a risk of collision. Summary of the Invention

[0004] The technical problem to be solved by the present invention is: to provide a short-distance anti-collision system and method that can accurately obtain the distance information of obstacles in the moving direction, effectively prevent collisions, and ensure the driving safety of driverless vehicles.

[0005] To solve the above technical problem, the technical solution adopted by the present invention is: A short-distance anti-collision system includes a control device, a communication device, and a ranging radar; Two or more of the ranging radars are arranged around the moving vehicle; The control device is connected to all the ranging radars and is respectively communicatively connected to a remote platform and a vehicle controller through the communication device.

[0006] To solve the above technical problem, another technical solution adopted by the present invention is: A short-distance anti-collision method is applied to the above short-distance anti-collision system and includes the following steps: S1. Obtain the comprehensive distance data of all the ranging radars on one side of the moving vehicle in its moving direction; S2. Determine whether the moving vehicle can continue to move in the moving direction according to the comprehensive distance data.

[0007] The beneficial effects of the present invention are as follows: A short-distance anti-collision system and method are provided. A plurality of ranging radars are arranged around the moving vehicle. When the vehicle moves, the integrated ranging data of all the ranging radars in the same direction is obtained, so as to judge whether the moving vehicle can continue to move in this direction. There is no problem of visual blind spots of the camera, and the distance information of obstacles in the moving direction can be accurately obtained, effectively preventing collisions and ensuring the driving safety of driverless vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 It is a schematic installation diagram of the ranging radar of a short-distance anti-collision system according to an embodiment of the present invention on a moving vehicle; Figure 2 It is a system block diagram of a short-distance anti-collision system according to an embodiment of the present invention; Figure 3 It is a step schematic diagram of a short-distance anti-collision method according to an embodiment of the present invention.

[0009] Reference Signs: 1. Control device; 2. Communication device; 3. Ranging radar; 4. Remote platform; 5. Vehicle controller; 6. Alarm device; 7. Moving vehicle. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0010] To describe in detail the technical content, achieved objectives and effects of the present invention, the following is described in conjunction with the embodiments and with reference to the accompanying drawings.

[0011] Please refer to Figures 1 to 3 , a short-distance anti-collision system includes a control device 1, a communication device 2 and a ranging radar 3; Two or more of the ranging radars 3 are arranged around the moving vehicle 7; The control device 1 is connected to all the ranging radars 3, and is respectively communicatively connected to the remote platform 4 and the vehicle controller 5 through the communication device 2.

[0012] From the above description, it can be seen that the beneficial effects of the present invention are as follows: A plurality of ranging radars 3 are arranged around the perimeter of the moving vehicle 7, there is no problem of visual blind spots of the camera, the distance information of obstacles in the moving direction can be accurately obtained, effectively preventing collisions and ensuring the driving safety of driverless vehicles.

[0013] Furthermore, it further includes an alarm device 6, and the control device 1 is connected to the alarm device 6.

[0014] From the above description, it can be seen that an alarm device 6 is also provided, which can be used to trigger an alarm when the distance to an obstacle is detected to be too close, so that surrounding vehicles, pedestrians, etc. can pay attention to avoid.

[0015] Further, there are four ranging radars 3 on the front and rear sides of the mobile vehicle 7, and two ranging radars 3 on the left and right sides of the mobile vehicle 7.

[0016] As can be seen from the above description, the twelve ranging radars 3 are arranged around the four sides of the mobile vehicle, so as to achieve all-round dead-angle-free ranging. Multiple ranging radars 3 can also be used to perform multi-angle comprehensive ranging on the same obstacle, so as to master the overall shape of the obstacle and the overall distance from the vehicle, effectively preventing collisions.

[0017] Further, both between the control device 1 and the ranging radar 3 and between the control device 1 and the communication device 2 are RS485 communication connections.

[0018] As can be seen from the above description, both between the control device 1 and the ranging radar 3 and between the control device 1 and the communication device 2 are RS485 communication connections, which have strong anti-noise interference and excellent transmission performance.

[0019] Further, the alarm device 6 is an audible and visual alarm.

[0020] As can be seen from the above description, the alarm device 6 uses an audible and visual alarm, and its warning effect is significant and eye-catching.

[0021] Please refer to Figure 3 , a short-distance anti-collision system method, applied to the above-mentioned short-distance anti-collision system, including the following steps: S1. Obtain the comprehensive distance data of all the ranging radars 3 on one side of the mobile vehicle 7 in its moving direction; S2. Judge whether the mobile vehicle 7 can continue to move in the moving direction according to the comprehensive distance data.

[0022] As can be seen from the above description, the beneficial effect of the present invention is that a plurality of ranging radars 3 are arranged around the mobile vehicle 7. When it moves, the comprehensive ranging data of all the ranging radars 3 in the same direction are obtained, so as to judge whether the mobile vehicle 7 can continue to move forward in this direction. There is no problem of visual blind area of the camera, and the distance information of the obstacles in the moving direction can be accurately obtained, effectively preventing collisions and ensuring the driving safety of the driverless vehicle.

[0023] Further, the specific step S1 is as follows: Obtain the real-time distance data of all the ranging radars 3 on one side of the mobile vehicle 7 in its moving direction detecting the same obstacle and take the average value to obtain the comprehensive distance data.

[0024] As can be seen from the above description, by using multiple ranging radars 3 to detect the same obstacle and averaging the obtained real-time distance data to obtain comprehensive distance data, the overall distance between the obstacle and the moving vehicle 7 can be detected. Especially for some irregular obstacles, the distance between their protruding parts and the vehicle can be detected.

[0025] Further, the step S2 is specifically as follows: Determine whether the comprehensive distance data of the obstacle is less than or equal to a first preset distance. If so, upload the real-time distance data and the comprehensive distance data of the obstacle to the remote platform 4 through the communication device 2, and stop the moving vehicle 7.

[0026] As can be seen from the above description, taking the first preset distance as the safety distance for collision prevention, when the comprehensive distance data of an obstacle is less than or equal to the first preset distance, the moving vehicle 7 is stopped to prevent the moving vehicle 7 from colliding with the obstacle.

[0027] Further, before the step S1, the following is also included: S01. Obtain the real-time detection data of the ranging radar 3 when starting the moving vehicle 7; S02. Determine whether there is an obstacle whose distance from the moving vehicle 7 in the real-time detection data is less than or equal to a second preset distance. If so, start the alarm device 6 and upload the distance data and azimuth data of the obstacle in the real-time detection data to the remote platform 4, otherwise execute the step S1.

[0028] As can be seen from the above description, when starting the moving vehicle 7, the surrounding obstacle situation is detected to determine whether there is an obstacle whose distance from the moving vehicle 7 is less than or equal to the second preset distance. If so, trigger an alarm and upload the information to the remote platform 4 to facilitate notifying the operator in advance and avoiding incorrect movement instructions.

[0029] Further, before the step S1, the following is also included: Number all the ranging radars 3.

[0030] As can be seen from the above description, numbering all the ranging radars 3 facilitates accurately and quickly obtaining the detection data of all the ranging radars 3 on the same side of the moving vehicle 7 in different moving directions.

[0031] A short-distance collision prevention system of the present invention can be applied to an unmanned driving scenario, which will be described below through specific embodiments: Please refer to Figure 1 and Figure 2 , Embodiment 1 of the present invention is: A short-distance collision prevention system, such asFigure 1 and Figure 2 As shown in Figure 2 , it includes a control device 1, an alarm device 6, a communication device 2, and a ranging radar 3. More than two ranging radars 3 are arranged around the mobile vehicle 7. Among them, there are four ranging radars 3 on the front and rear sides of the mobile vehicle 7, and two ranging radars 3 on the left and right sides of the mobile vehicle 7 respectively.

[0032] As Figure 2 shown in Figure 2 , the control device 1 is connected to all the ranging radars 3, and is respectively communicatively connected to the remote platform 4 and the vehicle controller 5 through the communication device 2. The control device 1 is connected to the alarm device 6. Moreover, the connection between the control device 1 and the ranging radar 3 and the connection between the control device 1 and the communication device 2 are both RS485 communication connections. In other embodiments, other communication methods such as CAN communication can also be selected. The alarm device 6 can be selected as an audible and visual alarm.

[0033] Please refer to Figure 3 , the second embodiment of the present invention is: A short-distance anti-collision method, on the basis of the above-mentioned first embodiment, as Figure 3 shown in Figure 3 , includes the following steps: S01. Obtain the real-time detection data of the ranging radar 3 when the mobile vehicle 7 is started; As shown in the figure, in this embodiment, the ranging radars 3 on the mobile vehicle 7 are all numbered, and the ranging radars 3 at different positions are bound to different directions. There are a total of 12 ranging radars 3 numbered from 1 to 12, which is convenient for differential use.

[0034] S02. Judge whether there is an obstacle in the real-time detection data whose distance from the mobile vehicle 7 is less than or equal to the second preset distance. If so, start the alarm device 6 and upload the distance data and azimuth data of the obstacle to the remote platform 4. Otherwise, execute step S1.

[0035] In this embodiment, the value range of the second preset distance is 2.5 - 3.5 m, preferably 3 m. As shown in the figure, when performing ranging, the operator can select several numbered ranging radars 3 for detection according to actual needs.

[0036] S1. Obtain the comprehensive distance data of all the ranging radars 3 on one side of the mobile vehicle 7 in its moving direction; In this embodiment, step S1 is specifically: Obtain the real-time distance data of all the ranging radars 3 on one side of the mobile vehicle 7 in its moving direction detecting the same obstacle and take the average value to obtain the comprehensive distance data. As shown in the figure, when the mobile vehicle 7 moves forward, the ranging radars 3 numbered 1, 2, 3, and 4 continuously emit emission waves and receive echo waves, and obtain the real-time distance data according to the wave velocity and time. Its expression is as follows: s = v × (h ÷ 2) Wherein, s represents the real-time distance data; v represents the wave velocity; h represents the time from the emission of the transmitted wave to the reception of the echo wave. The ranging radars 3 corresponding to No. 1, No. 2, No. 3, and No. 4 obtain s1, s2, s3, and s4 respectively. After taking the average value, the comprehensive distance data is obtained. The comprehensive distance data represents the overall distance between the obstacle and the moving vehicle 7, while the real-time distance data can reflect the distance between the protruding part of the obstacle and the moving vehicle 7. When the moving vehicle 7 moves towards the right rear direction, the real-time distance data of the ranging radars 3 of No. 5, No. 6, No. 7, No. 8, and No. 9 are obtained; when the moving vehicle 7 moves towards the left front direction, the real-time distance data of the ranging radars 3 of No. 11, No. 12, No. 1, No. 2, and No. 3 are obtained. In addition, when the moving vehicle 7 moves in other directions, the real-time distance data of the corresponding numbered ranging radars 3 are obtained in a similar process as above, which will not be elaborated here.

[0037] S2. Determine whether the moving vehicle 7 can continue to move in the moving direction according to the comprehensive distance data.

[0038] In this embodiment, step S2 is specifically as follows: Judge whether there is comprehensive distance data of an obstacle that is less than or equal to the first preset distance. If so, upload the real-time distance data and comprehensive distance data of the obstacle to the remote platform 4 through the communication device 2, and make the moving vehicle 7 stop moving.

[0039] Wherein, the value range of the first preset distance is 0.04 - 0.06 m. Preferably, it is 0.05 m.

[0040] In summary, a short-distance anti-collision system and method provided by the present invention are provided with a plurality of ranging radars around the moving vehicle. When the vehicle moves, the comprehensive ranging data of all the ranging radars in the same direction are obtained, so as to judge whether the moving vehicle can continue to move in this direction. When the distance from an obstacle is too close, the alarm device is triggered. There is no problem of visual blind area of the camera, and the distance information of the obstacle in the moving direction can be accurately obtained, effectively preventing collisions and improving the driving safety of the driverless vehicle.

[0041] The above is only an embodiment of the present invention, and thus does not limit the patent scope of the present invention. Any equivalent transformation made by using the specification and drawings of the present invention, or directly or indirectly applied in the related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A short-distance anti-collision system, characterized in that, It includes a control device, a communication device and a ranging radar; Two or more of the ranging radars are arranged around the mobile vehicle; The control device is connected to all the ranging radars, and is respectively communicatively connected to a remote platform and a vehicle controller through the communication device.

2. The short-distance anti-collision system according to claim 1, characterized in that, It further includes an alarm device, and the control device is connected to the alarm device.

3. The short-distance anti-collision system according to claim 1, characterized in that, There are four ranging radars on each of the front and rear sides of the mobile vehicle, and two ranging radars on each of the left and right sides of the mobile vehicle.

4. A short-distance anti-collision system according to claim 1, characterized in that, The connection between the control device and the ranging radar and the connection between the control device and the communication device are both RS485 communication connections.

5. The short-distance anti-collision system according to claim 2, characterized in that, The alarm device is an audible and visual alarm.

6. A short-distance anti-collision system method, applied to the short-distance anti-collision system according to any one of claims 1 to 5, characterized in that, It includes the following steps: S1. Obtain the comprehensive distance data of all the ranging radars on one side of the mobile vehicle in its moving direction; S2. Judge whether the mobile vehicle can continue to move in the moving direction according to the comprehensive distance data.

7. A short - range anti - collision system method according to claim 6, characterized in that, The specific content of step S1 is: Obtain the real-time distance data of all the ranging radars on one side of the mobile vehicle in its moving direction detecting the same obstacle and take the average value to obtain the comprehensive distance data.

8. A short-distance anti-collision system method according to claim 7, characterized in that, The specific content of step S2 is: Judge whether there is the comprehensive distance data of the obstacle less than or equal to a first preset distance. If so, upload the real-time distance data and the comprehensive distance data of the obstacle to the remote platform through the communication device, and make the mobile vehicle stop moving.

9. A short-distance anti-collision system method according to claim 6, characterized in that, Before step S1, it further includes: S01. Obtain the real-time detection data of the ranging radar when starting the mobile vehicle; S02. Judge whether there is an obstacle in the real-time detection data whose distance from the mobile vehicle is less than or equal to a second preset distance. If so, start the alarm device and upload the distance data and azimuth data of the obstacle to the remote platform, otherwise execute step S1.

10. A short-distance anti-collision system method according to claim 6, characterized in that, Before step S1, it further includes: Number all the ranging radars.

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