Vision and millimeter wave radar combined target detection device

Abstract

The utility model discloses a vision and millimeter wave radar combined target detection device, which is characterized in that a millimeter wave radar is mounted on a support plate, and the sensing direction of the millimeter wave radar comprises the front surface of the support plate; the visual function part is installed on the support plate and comprises a probe base and a visual probe installed on the probe base, and the sensing direction of the visual probe comprises the back face of the support plate; the ultrasonic ranging sensor is connected with the millimeter-wave radar or the visual function part, and the sensing direction of the ultrasonic ranging sensor comprises the back surface of the support plate; according to the target detection device combining vision and millimeter-wave radar provided by the utility model, the millimeter-wave radar obtains information sensing of a target in front; the visual function part is used for sensing front target information and providing a monitoring picture for a user; the ultrasonic distance measuring sensor obtains a rear target sensing signal as an early warning and prompting signal; the installation process of the ultrasonic ranging sensor, the millimeter wave radar and the visual function part is simplified through the support plate.

Description

Technical Field

[0001] The utility model relates to the field of vehicle sensing devices, and particularly relates to an object detection device combining vision and millimeter-wave radar. Background Technique

[0002] Utilizing the characteristics of millimeter waves, such as short wavelength, high frequency, and strong penetration ability, millimeter-wave radar has demonstrated excellent performance in detection and ranging.

[0003] In the working principle of millimeter-wave radar, one of its core technologies is the frequency-modulated continuous-wave technology. By transmitting a continuous wave whose frequency changes with time and receiving the signal reflected by the target, the frequency difference between the transmitted signal and the received signal is used to accurately calculate the distance between the target and the radar. By measuring the phase change of the signal, the speed information of the target can also be obtained. In addition to distance and speed measurement, millimeter-wave radar also has the ability of angle detection. By configuring multiple receiving antennas, the arrival angle information of the reflected signal can be obtained, and then the direction of the target can be determined. This multi-angle measurement ability makes millimeter-wave radar more accurate and reliable in target tracking and recognition.

[0004] Due to the particularity of the millimeter-wave frequency band, its signal is not easily interfered by signals in other frequency bands during transmission. In the field of transportation, millimeter-wave radar can be used in automotive safety driving, intelligent transportation systems, and other fields.

[0005] Applying millimeter-wave radar in vehicles can detect relevant obstacles more accurately. With the continuous development of AI technology (mainly the image recognition branch), combining the sensing information of millimeter-wave radar with visual monitoring signal information can improve the detection accuracy and richness of the entire detection system for targets.

[0006] In vehicle applications, multiple millimeter-wave radars and cameras are generally distributed comprehensively at the front and rear of the vehicle. By integrating the information of the two monitoring devices, the obstacle information around the entire vehicle can be obtained. At this time, the obstacle information in the peripheral area of the vehicle is insufficiently obtained (especially in blind spots), which poses certain potential hazards during the driving process; at the same time, it is difficult to add a sensing system to the side of the vehicle. Content of the Utility Model

[0007] The main purpose of the utility model is to provide an object detection device combining vision and millimeter-wave radar, aiming to solve the problems of insufficient acquisition of obstacle information in the peripheral area of the vehicle and certain structural difficulties in adding a sensing system to the side of the vehicle.

[0008] To achieve the above purpose, the utility model provides an object detection device combining vision and millimeter-wave radar, which is applied to an automobile and includes:

[0009] Bracket plate;

[0010] A millimeter-wave radar is installed on the bracket plate, and the sensing direction of the millimeter-wave radar includes the front of the bracket plate;

[0011] A vision function unit is installed on the bracket plate. The vision function unit includes a probe base and a vision probe installed on the probe base. Among them, the sensing direction of the vision probe includes the back of the bracket plate;

[0012] An ultrasonic ranging sensor is connected to the millimeter-wave radar or the vision function unit. Among them, the sensing direction of the ultrasonic ranging sensor includes the back of the bracket plate;

[0013] A processor is electrically connected to the ultrasonic ranging sensor, the millimeter-wave radar, and the vision function unit, and receives information sent by the ultrasonic ranging sensor, the millimeter-wave radar, and the vision function unit.

[0014] Further, one end in the length direction of the target detection device is the installation end, and the sensing direction of the millimeter-wave radar also includes the other end side in the length direction of the target detection device.

[0015] Further, the millimeter-wave radar includes a first radar and a second radar. The orientation of the first radar is the front of the bracket plate, and the second radar is arranged at the other end in the length direction of the target detection device and the orientation is the side front of the target detection device.

[0016] Further, the first radar and the second radar are connected to each other.

[0017] Further, the ultrasonic ranging sensor is arranged on the probe base.

[0018] Further, the sensing direction of the ultrasonic ranging sensor also includes the front of the bracket plate.

[0019] Further, the vision probe is of the wide-angle vision module type, and the installation orientation of the vision probe is downward.

[0020] Further, the vision probe includes two sub-vision modules arranged back to back.

[0021] Further, the target detection device is installed on the rearview mirror of an automobile.

[0022] Further, the housing of the rearview mirror includes the bracket plate.

[0023] The target detection device combining vision and millimeter-wave radar provided by the present utility model obtains the target information sensing in the front through the millimeter-wave radar; the vision functional unit obtains the target information sensing in the front and provides the user with a monitoring screen; the ultrasonic ranging sensor obtains the target sensing in the rear as a warning and prompt signal; the installation process of the ultrasonic ranging sensor, the millimeter-wave radar and the vision functional unit is simplified through the support plate. Brief Description of the Drawings

[0024] Figure 1 is a schematic diagram of the back of the millimeter-wave radar in the target detection device combining vision and millimeter-wave radar according to the first embodiment of the present utility model;

[0025] Figure 2 is a schematic diagram of the front of the millimeter-wave radar in the target detection device combining vision and millimeter-wave radar according to the first embodiment of the present utility model;

[0026] Figure 3 is a schematic diagram of the back of the target detection device combining vision and millimeter-wave radar according to the first embodiment of the present utility model;

[0027] Figure 4 is a schematic diagram of the front of the target detection device combining vision and millimeter-wave radar according to the first embodiment of the present utility model;

[0028] Figure 5 is a schematic diagram of the vision functional unit in the target detection device combining vision and millimeter-wave radar according to the first embodiment of the present utility model;

[0029] Figure 6 is a schematic diagram of the back of the target detection device combining vision and millimeter-wave radar according to the second embodiment of the present utility model;

[0030] Figure 7 is a schematic diagram of the vision functional unit in the target detection device combining vision and millimeter-wave radar according to the third embodiment of the present utility model.

[0031] The realization, functional features and advantages of the purpose of the present utility model will be further described with reference to the embodiments and the accompanying drawings. Detailed Embodiment

[0032] It should be understood that the specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model.

[0033] Those skilled in the art of the present technology can understand that, unless specifically stated, the singular forms "a", "an", "the", "above-mentioned" and "this" used herein may also include the plural forms. It should be further understood that the term "including" used in the specification of the present utility model means the presence of the described features, integers, steps, operations, elements, units, modules and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, units, modules, components and / or their groups. It should be understood that when we say an element is "connected" or "coupled" to another element, it can be directly connected or coupled to other elements, or there may also be intermediate elements. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The phrase "and / or" used herein includes all or any unit and all combinations of one or more associated listed items.

[0034] Those skilled in the art of the present technology can understand that, unless otherwise defined, all terms used herein (including technical terms and scientific terms) have the same meaning as the general understanding of those of ordinary skill in the art to which the present utility model belongs. It should also be understood that terms such as those defined in a general dictionary should be understood to have a meaning consistent with the meaning in the context of the prior art, and will not be interpreted with an idealized or overly formal meaning unless specifically defined as here.

[0035] Referring to Figures 1 to 7 , in an embodiment of the present utility model, a target detection device combining vision and millimeter-wave radar, which is applied to an automobile, includes:

[0036] A bracket plate 100;

[0037] A millimeter-wave radar 200, installed on the bracket plate 100, and the sensing direction of the millimeter-wave radar 200 includes the front of the bracket plate 100;

[0038] A vision functional part 300, installed on the bracket plate 100, and the vision functional part 300 includes a probe base 310 and a vision probe 320 installed on the probe base 310. Among them, the sensing direction of the vision probe 320 includes the back of the bracket plate 100;

[0039] An ultrasonic ranging sensor 400, connected to the millimeter-wave radar 200 or the vision functional part 300. Among them, the sensing direction of the ultrasonic ranging sensor 400 includes the back of the bracket plate 100;

[0040] A processor is electrically connected to the ultrasonic ranging sensor 400, the millimeter-wave radar 200, and the vision function unit 300, and receives information sent by the ultrasonic ranging sensor 400, the millimeter-wave radar 200, and the vision function unit 300.

[0041] In the prior art, the obstacle information in the vehicle's peripheral detection area is insufficiently obtained (especially in the blind spot position), which poses certain potential hazards during the driving process; at the same time, it is difficult to add a sensing system to the side of the vehicle in terms of structure.

[0042] In the present utility model, the support plate 100 forms the fixed basis for subsequent parts. It should be noted that the overall shape of the support plate 100 only needs to be in the form of a plate (for example, it can have a certain curvature, etc.), and its specific shape is not limited to a standard plate shape. During use, the support plate 100 is installed vertically, that is, the thickness direction of the support plate 100 is the front and the back respectively.

[0043] The sensing signals obtained by the millimeter-wave radar 200 are mainly provided to the intelligent driving system for reference; the sensing signals obtained by the vision function unit 300 can be used not only as a reference for the intelligent driving system but also as a monitoring screen for the user; the sensing signals obtained by the ultrasonic ranging sensor 400 are generally only used as warning and prompting signals.

[0044] The millimeter-wave radar 200 is installed on the support plate 100. The sensing direction of the millimeter-wave radar 200 includes the front of the support plate 100 (that is, the front of the target detection device).

[0045] The vision function unit 300 is installed on the support plate 100. The vision function unit 300 includes a probe base 310 and a vision probe 320 installed on the probe base 310. The sensing direction of the vision probe 320 includes the back of the support plate 100. The millimeter-wave radar 200 and the vision function unit 300 sense the target information on the front and back of the target detection device respectively.

[0046] The ultrasonic ranging sensor 400 is connected to the millimeter-wave radar 200 or the vision function unit 300. The sensing direction of the ultrasonic ranging sensor 400 includes the back of the support plate 100, and information behind is obtained through the ultrasonic ranging sensor 400.

[0047] The processor is electrically connected to the ultrasonic ranging sensor 400, the millimeter-wave radar 200, and the vision function unit 300, and receives information sent by the ultrasonic ranging sensor 400, the millimeter-wave radar 200, and the vision function unit 300. The processor communicates with the control system of the vehicle, thereby transmitting the collected target information.

[0048] The installation process of the ultrasonic ranging sensor 400, millimeter-wave radar 200, and vision function unit 300 is simplified by the support plate 100. For example, during the installation process, the installation of the support plate 100 is completed first, and then the ultrasonic ranging sensor 400, millimeter-wave radar 200, and vision function unit 300 are completed. For example, installation seats are provided at specific positions on the support plate 100, so that the above three components can be conveniently installed thereon. The preferred installation position of the support plate 100 is the rearview mirror of the vehicle, or the support plate 100 is formed as part of the rearview mirror.

[0049] In summary, the millimeter-wave radar 200 obtains the front target information sensing; the vision function unit 300 obtains the front target information sensing and provides the user with a monitoring screen; the ultrasonic ranging sensor 400 obtains the rear target sensing as a warning and prompt signal; the installation process of the ultrasonic ranging sensor 400, millimeter-wave radar 200, and vision function unit 300 is simplified by the support plate 100.

[0050] In one embodiment, one end in the length direction of the target detection device is the installation end, and the sensing direction of the millimeter-wave radar 200 further includes the other end side in the length direction of the target detection device.

[0051] In this embodiment, one end in the length direction of the target detection device is the installation end (i.e., the inner end), and the sensing direction of the millimeter-wave radar 200 further includes the other end side in the length direction of the target detection device (i.e., the outer end). Generally, the sensing angle of the millimeter-wave radar 200 is about 110 degrees. The millimeter-wave radar 200 forms a certain angle with the due front through the installation direction, so that the sensing direction of the millimeter-wave radar 200 includes the front and side surfaces of the support plate 100. It should be noted that the millimeter-wave radar 200 does not limit the detection of the entire front (180-degree range) and the entire side (180-degree range); specifically, it refers to the detection of most of the front and most of the side surfaces. During the specific implementation process, for example, when the target detection device is set corresponding to the rearview mirror of the vehicle, the millimeter-wave radar 200 can be set on the free end of the rearview mirror and face the side front.

[0052] In one embodiment, the millimeter-wave radar 200 includes a first radar and a second radar. The orientation of the first radar is the front surface of the support plate 100, and the second radar is arranged at the other end in the length direction of the target detection device and its orientation is the side front of the target detection device.

[0053] In the previous embodiment, the sensing direction of the millimeter-wave radar 200 is defined to include the front and side surfaces. However, the mature structure of the functional part of the current millimeter-wave radar 200 is planar; therefore, in this embodiment, the millimeter-wave radar 200 is divided into a first radar and a second radar, so as to sense different directions through the first radar and the second radar respectively.

[0054] In one embodiment, the first radar and the second radar are interconnected.

[0055] In this embodiment, connecting the first radar and the second radar structurally reduces the overall installation difficulty. For example, the first radar and the second radar share a circuit board, so that the first radar and the second radar are interconnected, and at this time, both can be installed synchronously and quickly. Or the first radar and the second radar are two independent functional units, but are structurally connected to each other.

[0056] Refer to Figure 6 , in one embodiment, the ultrasonic ranging sensor 400 is disposed on the probe base 310.

[0057] In this embodiment, the installation of the ultrasonic ranging sensor 400 is realized by using the probe base 310, eliminating the need for a separate fixed structure design for the ultrasonic ranging sensor 400. Currently, the ultrasonic ranging sensor 400 has a long history of technological iteration. Its core component is a piezoelectric ceramic chip. Through the setting of piezoelectric materials and processes, the ultrasonic ranging sensor 400 can be miniaturized currently, providing a basis for the ultrasonic ranging sensor 400 to be disposed on the probe base 310.

[0058] In one embodiment, the sensing direction of the ultrasonic ranging sensor 400 further includes the front surface of the support plate 100.

[0059] In this embodiment, the ultrasonic ranging sensor 400 includes a front sensor and a rear sensor. The sensing direction of the front sensor is the front surface of the support plate 100, and the sensing direction of the rear sensor is the front surface of the support plate 100. Currently, the miniaturization of the ultrasonic ranging sensor 400 makes it easier to increase the number of uses. Through the dual design of the front sensor and the rear sensor, the relevant information obtained by the entire ultrasonic ranging sensor 400 is more comprehensive.

[0060] Refer to Figure 7 , in one embodiment, the vision probe 320 is of the wide-angle vision module type, wherein the installation orientation of the vision probe 320 is downward.

[0061] In this embodiment, the wide-angle vision module plays an indispensable role in fields such as photography, monitoring, and robots. In the field of sensors, the wide-angle vision module can capture a larger range of images and obtain visual information over a large range under single use conditions. Of course, after the processor receives the signal sent by the vision probe 320 of the wide-angle vision module type, it can correct the wide-angle vision signal according to relevant parameters to obtain visual image information closer to the actual situation.

[0062] Refer toFigure 5 , in one embodiment, the vision probe 320 includes two sub-vision modules arranged back to back.

[0063] In this embodiment, the acquisition of visual images at a larger angle is achieved through two sub-vision modules. Specifically, the two sub-vision modules are arranged back to back on the probe base 310. For example, one sub-vision module faces forward and the other sub-vision module faces backward. The images obtained by the two sub-vision modules are both transmitted to the processor.

[0064] In one embodiment, the target detection device is installed on the rearview mirror of a vehicle.

[0065] The target detection device provided by the present utility model is designed for vehicles, and the specific preferred application position is the rearview mirror of a vehicle. For example, if the side with the reflector in the rearview mirror is the back, then the millimeter-wave radar 200 is arranged on the front of the rearview mirror, the vision function unit 300 is arranged below the rearview mirror, and the ultrasonic ranging sensor 400 faces the back of the reflector. The millimeter-wave radar 200 can obtain the obstacle wave reflection information in front of the rearview mirror (mainly the visual blind area in the front lower part), the vision function unit 300 can obtain the obstacle image information behind the rearview mirror (mainly the blind area on the side of the vehicle body), and the ultrasonic ranging sensor 400 can obtain the vehicle information behind the rearview mirror (the back).

[0066] In one embodiment, the housing of the rearview mirror includes the support plate 100.

[0067] In this embodiment, the support plate 100 is formed by a part of the housing of the rearview mirror without separately providing the support plate 100. Then, the complexity of the structure of the entire rearview mirror is reduced, and the installation process is also simplified.

[0068] In summary, for the target detection device combining vision and millimeter-wave radar provided by the present utility model, the millimeter-wave radar 200 obtains the sensing of target information in the front; the vision function unit 300 obtains the sensing of target information in the front and provides the user with a monitoring screen; the ultrasonic ranging sensor 400 obtains the sensing of the target in the rear as a warning and prompt signal; the installation process of the ultrasonic ranging sensor 400, the millimeter-wave radar 200, and the vision function unit 300 is simplified through the support plate 100.

[0069] The above are only the preferred embodiments of the present utility model, and do not limit the patent scope of the present utility model accordingly. Any equivalent structural or equivalent process transformation made using the specification and drawings of the present utility model, or directly or indirectly applied in other related technical fields, shall be similarly included in the patent protection scope of the present utility model.

Claims

1. A target detection device combining vision and millimeter wave radar, applied to automobiles, characterized in that: include: Bracket plate (100); a millimeter wave radar (200) mounted on the support plate (100), wherein a sensing direction of the millimeter wave radar (200) includes a front side of the support plate (100); A visual function unit (300) is mounted on the support plate (100), wherein the visual function unit (300) comprises a probe base (310) and a visual probe (320) mounted on the probe base (310), wherein a sensing direction of the visual probe (320) includes the back side of the support plate (100); an ultrasonic distance measuring sensor (400) connected to the millimeter wave radar (200) or the visual function unit (300), wherein a sensing direction of the ultrasonic distance measuring sensor (400) includes the back side of the support plate (100); A processor is electrically connected to the ultrasonic ranging sensor (400), the millimeter wave radar (200) and the visual function unit (300), and receives information sent by the ultrasonic ranging sensor (400), the millimeter wave radar (200) and the visual function unit (300).

2. The target detection device combining vision and millimeter wave radar according to claim 1 is characterized in that: One end of the target detection device in the length direction is a mounting end, and the sensing direction of the millimeter wave radar (200) also includes the other end side of the target detection device in the length direction.

3. The target detection device combining vision and millimeter wave radar according to claim 2 is characterized in that: The millimeter wave radar (200) comprises a first radar and a second radar, the first radar faces the front of the support plate (100), and the second radar is arranged at the other end in the length direction of the target detection device and faces the side front of the target detection device.

4. The target detection device combining vision and millimeter wave radar according to claim 3 is characterized in that: The first radar and the second radar are connected to each other.

5. The target detection device combining vision and millimeter wave radar according to claim 1 is characterized in that: The ultrasonic distance measuring sensor (400) is arranged on the probe base (310).

6. The target detection device combining vision and millimeter wave radar according to claim 1, characterized in that: The sensing direction of the ultrasonic distance measuring sensor (400) also includes the front side of the support plate (100).

7. The target detection device combining vision and millimeter wave radar according to any one of claims 1 to 6, characterized in that: The visual probe (320) is a wide-angle visual module type, wherein the visual probe (320) is installed in a downward direction.

8. The target detection device combining vision and millimeter wave radar according to any one of claims 1 to 6, characterized in that: The visual probe (320) comprises two sub-visual modules arranged back to back.

9. The target detection device combining vision and millimeter wave radar according to any one of claims 1 to 6, characterized in that: The target detection device is installed on the rearview mirror of the car.

10. The target detection device combining vision and millimeter wave radar according to claim 9, characterized in that: The housing of the rearview mirror comprises the bracket plate (100).

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