Vehicle-mounted ultrasonic sensor system

Abstract

The utility model discloses a vehicle-mounted ultrasonic sensor system, which relates to the field of automobile distance measurement and comprises a radar controller, an ultrasonic sensor group, an alarm device, a vehicle-mounted display screen and a vehicle-mounted rearview camera. The CAN communication module receives gear and vehicle speed information of a vehicle and sends the gear and vehicle speed information to the central processing unit; the central processor sends a ranging instruction; the ultrasonic drive processing module receives the distance information collected by the ultrasonic sensor group and processes the distance information; the central processing unit receives and analyzes the processed distance information to obtain alarm information and sends the alarm information to the alarm driving module; the alarm driving module sends the alarm information to the alarm device; and the image processing module receives a video signal acquired by the vehicle-mounted rear-view camera, processes the video signal and sends the processed video signal to the vehicle-mounted display screen. The image processing module is arranged in the radar controller, and the problem that a traditional ultrasonic sensor system cannot fuse sensor alarm data with an image of a rearview camera is solved.

Description

Technical Field

[0001] This application relates to the field of automotive ranging, and more specifically, to an in-vehicle ultrasonic sensor system. Background Technology

[0002] Traditional ultrasonic sensor systems typically include a control box, multiple sensors, and at least one alarm device. The sensors are each connected to the control box and work in coordination under its control. Each sensor detects the distance to an obstacle and transmits the data to the control box for processing and analysis. When the distance to an obstacle reaches a certain alarm condition, the controller activates the alarm device to provide an audio warning to the driver. This type of ultrasonic sensor system is functionally limited and cannot directly integrate sensor alarm data with images from a reversing camera. Therefore, it cannot provide the driver with more intuitive and visual alarm information.

[0003] To address the aforementioned issues, existing ultrasonic sensor systems transmit distance information detected by the sensors to the in-vehicle 360-degree surround view system via the vehicle's CAN network for processing. The distance is then displayed and warnings are issued on the corresponding in-vehicle screen. However, this approach involves the collaborative development of the 360-degree surround view system and the ultrasonic sensor system. Typically, these systems are manufactured by different companies, making development and coordination difficult and costly for OEMs. Furthermore, the visualization of the sensors relies too heavily on the 360-degree surround view system, hindering widespread adoption. Utility Model Content

[0004] This application provides an in-vehicle ultrasonic sensor system to overcome at least one technical problem existing in the prior art.

[0005] This application provides a vehicle-mounted ultrasonic sensor system, including: a radar controller, an ultrasonic sensor group, an alarm device, a vehicle-mounted display screen, and a vehicle-mounted rearview camera;

[0006] The radar controller includes a central processing unit, a power supply module, an ultrasonic drive processing module, a CAN communication module, an alarm drive module, and an image processing module.

[0007] The power module is connected to the vehicle's ACC power supply and the central processing unit respectively. The vehicle's ACC power supply provides the operating voltage to the central processing unit through the power module.

[0008] The CAN communication module is connected to the vehicle's instrument panel or BCM to receive the vehicle's gear position and speed information.

[0009] The CAN communication module is also connected to the central processing unit and is used to send the gear position and vehicle speed information to the central processing unit.

[0010] The central processing unit is used to send ranging commands to the ultrasonic sensor group based on the gear position and vehicle speed information;

[0011] The ultrasonic drive processing module is connected to the ultrasonic sensor group and is used to receive the distance information collected by the ultrasonic sensor group and process the distance information.

[0012] The central processing unit is connected to the ultrasonic drive processing module and is used to receive and analyze the processed distance information to obtain alarm information.

[0013] The central processing unit is connected to the alarm driving module and is used to send the alarm information to the alarm driving module;

[0014] The alarm driving module is connected to the alarm device and is used to send the alarm information to the alarm device;

[0015] The central processing unit is also connected to the image processing module and is used to send configuration parameters to the image processing module;

[0016] The image processing module is connected to the vehicle-mounted rearview camera and is used to receive the video signal collected by the vehicle-mounted rearview camera and process the video signal according to the configuration parameters.

[0017] The image processing module is also connected to the vehicle display screen and is used to send the processed video signal to the vehicle display screen.

[0018] Optionally, the radar controller further includes:

[0019] A voltage detection and reset module is used to monitor the voltage of the central processing unit (CPU). When the voltage of the CPU is lower than a voltage threshold, the voltage detection and reset module sends a low-level signal to the CPU to reset and restart it.

[0020] Optionally, the voltage detection and reset module includes a watchdog reset chip.

[0021] Optionally, the ultrasonic sensor group includes a front ultrasonic sensor group, a rear ultrasonic sensor group, a left ultrasonic sensor group, and a right ultrasonic sensor group; each of the front ultrasonic sensor group, the rear ultrasonic sensor group, the left ultrasonic sensor group, and the right ultrasonic sensor group includes multiple ultrasonic sensors, and the ultrasonic sensors are AK1 ultrasonic sensors or AK2 ultrasonic sensors.

[0022] The front-end ultrasonic sensor group is installed at the front of the vehicle; the rear-end ultrasonic sensor group is installed at the rear of the vehicle; the left-end ultrasonic sensor group is installed at the left end of the vehicle; and the right-end ultrasonic sensor group is installed at the right end of the vehicle.

[0023] Optionally, when the ultrasonic sensor is an AK1 ultrasonic sensor, the front-end ultrasonic sensor group includes four AK1 ultrasonic sensors; the rear-end ultrasonic sensor group includes four AK1 ultrasonic sensors; the left-end ultrasonic sensor group includes four AK1 ultrasonic sensors; and the right-end ultrasonic sensor group includes four AK1 ultrasonic sensors.

[0024] Optionally, when the ultrasonic sensor is an AK2 ultrasonic sensor, the radar controller includes a DSI3 communication module, which is multiplexed as the ultrasonic drive processing module.

[0025] Optionally, the vehicle's gears include P, D, and R.

[0026] When the gear is in P gear or the speed is greater than 15km / h, all ultrasonic sensors in the ultrasonic sensor group do not perform distance measurement.

[0027] When the gear is in D or R, all ultrasonic sensors in the ultrasonic sensor group measure distance and send the data to the central processing unit. If the front ultrasonic sensor group detects an obstacle and the distance to the obstacle is less than a first threshold, the alarm device generates an alarm sound. If the rear ultrasonic sensor group detects an obstacle and the distance to the obstacle is less than a second threshold, the alarm device generates an alarm sound. If the left ultrasonic sensor group detects an obstacle and the distance to the obstacle is less than a third threshold, the alarm device generates an alarm sound. If the right ultrasonic sensor group detects an obstacle and the distance to the obstacle is less than a fourth threshold, the alarm device generates an alarm sound.

[0028] When the gear is in D gear, the first threshold is greater than the second threshold, the third threshold, and the fourth threshold; when the gear is in R gear, the second threshold is greater than the first threshold, the third threshold, and the fourth threshold.

[0029] Optionally, the CAN communication module is also used to receive the vehicle's turn signal;

[0030] When the gear is in D and the left turn signal is active, the third threshold is greater than the first threshold, the second threshold, and the fourth threshold.

[0031] When the gear is in D and the right turn signal is active, the fourth threshold is greater than the first threshold, the second threshold, and the third threshold.

[0032] Optionally, when the gear is in reverse (R), the vehicle-mounted rearview camera processes the acquired video signal through the image processing module and sends it to the vehicle-mounted display screen for display; at the same time, the distance information of obstacles is displayed on the vehicle-mounted display screen.

[0033] Optionally, the alarm device is a speaker or a buzzer.

[0034] The innovative aspects of this application's embodiments include:

[0035] 1. In this embodiment, an image processing module is set in the radar controller, which makes the hardware solution more integrated and lower in cost. The image processing module is connected to the vehicle rearview camera and the vehicle display screen respectively, and has image processing and visualization functions. This solves the problem that the traditional ultrasonic sensor system cannot fuse sensor alarm data with the image of the reversing camera. This is one of the innovations of this application embodiment.

[0036] 2. In this embodiment, an image processing module is set in the radar controller, which eliminates the dependence on the 360-degree panoramic system and helps to expand its application range. Moreover, the image processing module can be compatible with different types of cameras and ultrasonic sensors, making it more adaptable and flexible, which is one of the innovations of this application embodiment. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 A schematic diagram of a vehicle-mounted ultrasonic sensor system provided in an embodiment of this application;

[0039] Figure 2 This is another structural schematic diagram of the vehicle-mounted ultrasonic sensor system provided in the embodiments of this application;

[0040] Figure 3 This is a schematic diagram of a circuit structure for an image processing module provided in an embodiment of this application;

[0041] Figure 4 This is another structural schematic diagram of the vehicle-mounted ultrasonic sensor system provided in the embodiments of this application. Detailed Implementation

[0042] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0043] It should be noted that the terms "comprising" and "having," and any variations thereof, in the embodiments and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0044] This application discloses an in-vehicle ultrasonic sensor system. Detailed descriptions follow.

[0045] Figure 1 Please refer to the schematic diagram of a vehicle-mounted ultrasonic sensor system provided in the embodiments of this application. Figure 1 The vehicle-mounted ultrasonic sensor system 100 provided in this application embodiment includes: a radar controller, an ultrasonic sensor group, an alarm device, a vehicle-mounted display screen, and a vehicle-mounted rearview camera;

[0046] The radar controller includes a central processing unit, a power supply module, an ultrasonic drive processing module, a CAN communication module, an alarm drive module, and an image processing module;

[0047] The power module is connected to the vehicle's ACC power supply and central processing unit respectively. The vehicle's ACC power supply provides the operating voltage to the central processing unit through the power module.

[0048] The CAN communication module connects to the vehicle's instrument panel or BCM to receive information about the vehicle's gear position and speed.

[0049] The CAN communication module is also connected to the central processing unit to send gear and vehicle speed information to the central processing unit;

[0050] The central processing unit is used to send ranging commands to the ultrasonic sensor group based on gear position and vehicle speed information;

[0051] The ultrasonic drive processing module is connected to the ultrasonic sensor group to receive distance information collected by the ultrasonic sensor group and process the distance information.

[0052] The central processing unit is connected to the ultrasonic drive processing module to receive and analyze the processed distance information to obtain alarm information;

[0053] The central processing unit is connected to the alarm driver module and is used to send alarm information to the alarm driver module;

[0054] The alarm drive module is connected to the alarm device and is used to send alarm information to the alarm device;

[0055] The central processing unit is also connected to the image processing module and is used to send configuration parameters to the image processing module;

[0056] The image processing module is connected to the vehicle rearview camera to receive the video signal captured by the vehicle rearview camera and process the video signal according to the configuration parameters.

[0057] The image processing module is also connected to the in-vehicle display screen to send the processed video signal to the in-vehicle display screen.

[0058] For details, please refer to Figure 1 The vehicle-mounted ultrasonic sensor system 100 provided in this application embodiment includes a radar controller and an ultrasonic sensor group. The radar controller includes a central processing unit and a power module. The power module is connected to the vehicle's ACC power supply and the central processing unit. In this embodiment, the power module consists of an automotive-grade DC-DC (Direct Current) voltage regulator chip, reverse connection protection components, surge protection components, filtering components, and energy storage components. It utilizes the vehicle's ACC power supply to provide a stable and reliable operating voltage and current to the central processing unit through the power module. ACC is an abbreviation for Adaptive Cruise Control, which refers to the adaptive cruise control power supply. It is activated by the vehicle key and is specifically designed to provide stable and reliable power support for various electronic systems of the vehicle. The system can operate normally when its voltage range is within 9 to 36V.

[0059] The radar controller also includes a CAN (Controller Area Network) communication module. This module connects to the vehicle's instrument cluster or BCM (Body Control Module) via a twisted-pair shielded automotive cable to receive information such as gear position and speed. Furthermore, the CAN communication module connects to the central processing unit (CPU) to transmit the gear position and speed information received from the vehicle to the CPU. The CPU then determines whether ranging is required based on this information. If ranging is necessary, it sends a ranging command to the ultrasonic sensor array. In this embodiment, the CAN communication module consists of an automotive-grade CAN transceiver, an RC filter, and ESD protection devices, supporting CAN FD (CAN with Flexible Data rate).

[0060] The radar controller also includes an ultrasonic drive processing module, which is connected to the ultrasonic sensor group. After receiving a ranging command, the ultrasonic sensor group detects obstacles and sends the detected distance information to the ultrasonic drive processing module. The ultrasonic drive processing module is also connected to the central processing unit (CPU). The distance information is processed by the ultrasonic drive processing module and then sent to the CPU. The CPU analyzes the information and determines whether an alarm should be triggered based on the analysis results. For example, if the detected distance to an obstacle is less than a threshold, an alarm should be triggered.

[0061] The radar controller also includes an alarm drive module, which is connected to the PWM port of the central processing unit. After the central processing module parses the alarm information, it sends the alarm information to the alarm drive module. In this application, when there is an obstacle, in order to promptly remind the driver and thus improve driving safety, an alarm device is also provided. The alarm device is connected to the alarm drive module. When the distance between the alarm device and the obstacle reaches a threshold, the central processing unit sends an alarm message to the alarm drive module, thereby using the alarm drive module to drive the alarm device to emit an alarm sound.

[0062] In this embodiment, the alarm device drive module consists of a single NPN transistor and an LC filter element, which can drive a passive piezoelectric buzzer or a speaker. Therefore, the alarm device can be, for example, a speaker or a buzzer.

[0063] In this application, to enable obstacle measurement in all directions (front, rear, left, and right) of the vehicle and avoid collisions caused by blind spots while driving in all directions, the ultrasonic sensor group is divided into a front ultrasonic sensor group, a rear ultrasonic sensor group, a left ultrasonic sensor group, and a right ultrasonic sensor group. The front ultrasonic sensor group is installed at the front of the vehicle, such as the front bumper; the rear ultrasonic sensor group is installed at the rear of the vehicle, such as the rear bumper; the left ultrasonic sensor group is installed on the left side of the vehicle, such as near the front and rear wheels on the left side; and the right ultrasonic sensor group is installed on the right side of the vehicle, such as near the front and rear wheels on the right side.

[0064] In addition, each ultrasonic sensor group includes multiple ultrasonic sensors. The ultrasonic sensors can be either AK1 or AK2 ultrasonic sensors. AK1 is based on fixed frequency drive, that is, the frequency of the emitted ultrasonic waves remains unchanged; AK2 is based on variable frequency coding drive, that is, the frequency of the emitted ultrasonic waves can change with time (40-60kHz), which can avoid co-frequency interference.

[0065] When the ultrasonic sensor group uses AK1 ultrasonic sensors, the transceiver processing circuit of each channel in the ultrasonic drive processing module is built with dual digital NPN transistors. This module can support up to 16 AK1 ultrasonic sensors to be connected at the same time. At this time, four AK1 ultrasonic sensors can be set in the front ultrasonic sensor group, the rear ultrasonic sensor group, the left ultrasonic sensor group, and the right ultrasonic sensor group respectively. Figure 2 For another structural schematic diagram of the vehicle-mounted ultrasonic sensor system provided in this application embodiment, please refer to... Figure 2 When the ultrasonic sensor group uses the AK2 ultrasonic sensor, the radar controller includes a DSI3 communication module. In this embodiment, the DSI3 communication module is constructed from two dedicated DSI3 interface chips, with a total of 4 DSI3 communication interfaces and a communication rate of up to 444 kbit / s. It can connect to 12 AK2 ultrasonic sensors. Therefore, the DSI3 communication module is directly reused as the ultrasonic drive processing module.

[0066] To fuse sensor alarm data with images from the reversing camera, this application also includes an image processing module in the radar controller, and establishes SPI communication between the central processing unit (CPU) and the image processing module, allowing the CPU to configure the parameters of the image processing module. The image processing module has video input and output ports, supporting CVBS, AHD 720P, and AHD 1080P video signals. When the vehicle is reversing, the video signal captured by the rearview camera is connected to the video input port of the image processing module via a 4-core shielded aviation cable. After processing the video signal according to the configuration parameters, the video output port is connected to the vehicle's display screen via the 4-core shielded aviation cable for real-time display of the video signal.

[0067] Figure 3 Please refer to the schematic diagram of a circuit structure of the image processing module provided in the embodiments of this application. Figure 3The video input terminal is connected to capacitors C1 and C2. The other end of C1 is connected to the emitter of transistor Q1 and the base of transistor Q2, and is also pulled down to GND through resistor R3. The collectors of transistors Q1 and Q2 are both connected to power supply VC. The base of transistor Q1 is pulled down to GND through resistor R2 and pulled up to power supply VC through R1. The emitter of transistor Q2 is connected to port 3 of integrated circuit IC2, resistor R4, and capacitor C6, with the other end of resistor R4 connected to GND. The other end of C6 is connected to port 21 of integrated circuit IC2. The other end of capacitor C2 is connected to port 1 of integrated circuit IC1 through resistor R1. Port 6 of integrated circuit IC1 is connected to power supply VC. Port 4 of integrated circuit IC1 is connected to GND through capacitor C5 and is also connected to resistor R9. The other end of resistor R9 is pulled up to power supply VC and GND through capacitors C3 and C4, respectively. Ports 6 and 3 of integrated circuit IC1 are connected to power supply VC and GND respectively. Port 5 of integrated circuit IC1 is pulled down to GND through resistor R8 and connected to port 4 of integrated circuit IC1 through resistor R7. Port 7 of integrated circuit IC1 is connected to port 7 of integrated circuit IC2. Port 8 of integrated circuit IC1 is pulled up to power supply VC through resistor R5 and connected to the base of transistor Q3. The collector of transistor Q3 is connected to port 6 of integrated circuit IC2 and pulled up to power supply VC through resistor R6. The emitter of transistor Q3 is connected to GND. Port 8 of integrated circuit IC2 is connected to power supply VC. Port 2 is pulled up to power supply VC through resistor R10 and pulled down to GND through resistor R11. Ports 18 and 19 are connected to an external clock crystal. Ports 9 and 23 are connected to GND through capacitors C7 and C8 respectively. Ports 15 and 16 are connected to GND through capacitors C10 and C9 respectively, with an inductor L1 connected between them. Port 13 is connected to GND. Ports 10, 11, and 12 establish communication connections with the corresponding interfaces of the central processing unit (CPU) to receive configuration parameters from the CPU. Port 5 is connected to resistor R12, the other end of which is connected to port 24 of integrated circuit IC2 and capacitor C10. The other end of capacitor C10 is connected to port 4 of integrated circuit IC3. Ports 5 and 6 of integrated circuit IC3 are connected to GND and power supply VC, respectively. Port 2 of integrated circuit IC3 is connected to the video output terminal through polarized capacitor C11 and resistor R12.

[0068] The vehicle-mounted ultrasonic sensor system provided in this application incorporates an image processing module within the radar controller, resulting in higher hardware integration and lower cost. The image processing module is connected to both the vehicle's rearview camera and the vehicle's display screen, providing image processing and visualization capabilities. This solves the problem of traditional ultrasonic sensor systems being unable to fuse sensor alarm data with images from the reversing camera, and eliminates reliance on 360-degree panoramic systems, thus expanding its application scope. Furthermore, the image processing module is compatible with different types of cameras and ultrasonic sensors, making it more adaptable and flexible.

[0069] Optionally, Figure 4 For another structural schematic diagram of the vehicle-mounted ultrasonic sensor system provided in this application embodiment, please refer to... Figure 4 The radar controller also includes a voltage detection and reset module for monitoring the voltage of the central processing unit (CPU). When the CPU voltage falls below a voltage threshold, the voltage detection and reset module sends a low-level signal to the CPU, causing it to reset and restart. The voltage detection and reset module includes a watchdog reset chip.

[0070] For details, please refer to Figure 4 In this embodiment, the radar controller also includes a voltage detection and reset module. This module can be built from a low-cost watchdog reset chip and has a voltage monitoring function to monitor the voltage of the central processing unit (CPU). When the CPU voltage is lower than the voltage threshold, the voltage detection and reset module sends a low-level signal to the CPU to reset and restart it.

[0071] Optionally, the vehicle's gears include P, D, and R. When the gear is in P or the speed is greater than 15 km / h, all ultrasonic sensors in the ultrasonic sensor group do not perform distance measurement. When the gear is in D or R, all ultrasonic sensors in the ultrasonic sensor group perform distance measurement and send the data to the central processing unit. If the front ultrasonic sensor group detects an obstacle and the distance to the obstacle is less than a first threshold, the alarm device generates an alarm sound. If the rear ultrasonic sensor group detects an obstacle and the distance to the obstacle is less than a second threshold, the alarm device generates an alarm sound. If the left ultrasonic sensor group detects an obstacle and the distance to the obstacle is less than a third threshold, the alarm device generates an alarm sound. If the right ultrasonic sensor group detects an obstacle and the distance to the obstacle is less than a fourth threshold, the alarm device generates an alarm sound. When the gear is in D, the first threshold is greater than the second, third, and fourth thresholds. When the gear is in R, the second threshold is greater than the first, third, and fourth thresholds.

[0072] For details, please refer to Figure 1When the vehicle's ACC power is turned on, the radar controller first enters the power-on self-test state. After the self-test is completed, it obtains the vehicle's status information, such as gear position, speed, and turn signals, from the vehicle through the CAN communication module. Then, it determines the working conditions of each ultrasonic sensor based on the vehicle's status information.

[0073] The vehicle's gears include P (Park), D (Drive), and R (Reverse). When the gear is in P or the vehicle speed exceeds 15 km / h, all sensors do not perform distance measurement. However, when the gear is in D or R, all ultrasonic sensors in the sensor array perform distance measurement and send the data to the central processing unit. Typically, ultrasonic sensor alarms are divided into long-range and short-range alarm modes. For example, a long-range alarm mode might indicate an obstacle within 3.5 meters, while a short-range alarm mode might indicate an obstacle within 1 meter. Therefore, when all ultrasonic sensors are performing distance measurement, the alarm distance thresholds for each direction of the ultrasonic sensors differ depending on the gear position.

[0074] For example, in this embodiment, the distance threshold for the ultrasonic sensors in the front-end ultrasonic sensor group is set as a first threshold, the distance threshold for the ultrasonic sensors in the rear-end ultrasonic sensor group is set as a second threshold, the distance threshold for the ultrasonic sensors in the left-end ultrasonic sensor group is set as a third threshold, and the distance threshold for the ultrasonic sensors in the right-end ultrasonic sensor group is set as a fourth threshold. That is, if the front-end ultrasonic sensor detects an obstacle and the distance to the obstacle is less than the first threshold, the alarm device will sound an alarm; if the rear-end ultrasonic sensor detects an obstacle and the distance to the obstacle is less than the second threshold, the alarm device will sound an alarm; if the left-end ultrasonic sensor detects an obstacle and the distance to the obstacle is less than the third threshold, the alarm device will sound an alarm; and if the right-end ultrasonic sensor detects an obstacle and the distance to the obstacle is less than the fourth threshold, the alarm device will sound an alarm.

[0075] When the vehicle is moving forward, the ultrasonic sensors in the front ultrasonic sensor group can be set to long-range alarm mode, while the other ultrasonic sensors are set to short-range alarm mode. Therefore, when the gear is in D gear, the first threshold is set to be greater than the second, third, and fourth thresholds. It should be noted that the values ​​of the second, third, and fourth thresholds can be equal or unequal at this time, and this application does not limit this.

[0076] Similarly, when the vehicle is reversing, the ultrasonic sensors in the rear ultrasonic sensor group are set to long-range alarm mode, while the other ultrasonic sensors are set to short-range alarm mode. Therefore, when the gear is in reverse (R), the second threshold is set to be greater than the first, third, and fourth thresholds. At this time, the values ​​of the first, third, and fourth thresholds can be equal or unequal; this application does not impose any limitation on this.

[0077] Alternatively, please refer to Figure 1 The CAN communication module is also used to receive the vehicle's turn signal signals; when the gear is in D and the left turn signal is received, the third threshold is greater than the first, second, and fourth thresholds. When the gear is in D and the right turn signal is received, the fourth threshold is greater than the first, second, and third thresholds.

[0078] Specifically, in addition to forward and backward movement, there is also a turning situation. When the vehicle turns, the ultrasonic sensor in the corresponding direction needs to be set to long-range alarm mode, while the ultrasonic sensors in other directions need to be set to short-range alarm mode. Therefore, in this embodiment, the vehicle's turn signal is also received through the CAN communication module, thereby determining whether the vehicle has turned based on the turn signal.

[0079] When the gear is in Drive (D) and the turn signal is left, the ultrasonic sensor in the left-hand ultrasonic sensor group needs to be set to long-range alarm mode, while the other ultrasonic sensors are set to short-range alarm mode. This means the third threshold is set to be greater than the first, second, and fourth thresholds. In this case, the values ​​of the second, first, and fourth thresholds can be equal or unequal; this application does not impose any limitation on this. Similarly, when the gear is in Drive (D) and the turn signal is right, the ultrasonic sensor in the right-hand ultrasonic sensor group needs to be set to long-range alarm mode, while the other ultrasonic sensors are set to short-range alarm mode. This means the fourth threshold is set to be greater than the first, second, and third thresholds. In this case, the values ​​of the second, third, and first thresholds can be equal or unequal; this application does not impose any limitation on this.

[0080] Optionally, when the gear is in reverse (R), the vehicle's rearview camera will process the video signal it collects through the image processing module and send it to the vehicle's display screen for display; at the same time, the distance information of obstacles will be displayed on the vehicle's display screen.

[0081] Specifically, in this embodiment, the image processing module is connected to the vehicle rearview camera and the vehicle display screen respectively. When the vehicle is reversing, that is, when the gear is in R, the video signal collected by the vehicle rearview camera is connected to the video input terminal of the image processing module through a 4-core shielded aviation cable. After the image processing module processes the video signal according to the configuration parameters, the video output port is connected to the vehicle display screen through a 4-core shielded aviation cable to realize the real-time display of the video signal.

[0082] In this embodiment, when the vehicle-mounted display screen shows the video signal captured by the rearview camera, it also displays obstacle distance information. For example, when there is no obstacle behind the vehicle, the vehicle-mounted display screen shows the video image from the reversing camera, and displays a prompt message "____" centered below the video image; when there is an obstacle 1m directly behind the vehicle, the prompt message ">>>>1.0m<<<<" is displayed below the video image; when there is an obstacle 1m to the left of the rear of the vehicle, the prompt message ">>>>1.0m<<" is displayed below the video image; when there is an obstacle 1m to the right of the rear of the vehicle, the prompt message ">>1.0m<<<<" is displayed below the video image; when the distance to the obstacle behind the vehicle is less than 0.3m, the prompt message ">>>>STOP<<<<" is displayed below the video image.

[0083] It should be noted that the above-described prompting method is only one implementation method in this embodiment. In other embodiments, other prompting information may also be displayed, and this application does not make specific limitations on this.

[0084] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of one embodiment, and the modules or processes shown in the drawings are not necessarily essential for implementing this application.

[0085] Those skilled in the art will understand that the modules in the apparatus of the embodiments can be distributed in the apparatus of the embodiments as described in the embodiments, or they can be located in one or more devices different from this embodiment with corresponding changes. The modules of the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules.

[0086] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A vehicle mounted ultrasonic sensor system, characterized by The application relates to a radar controller, an ultrasonic sensor group, an alarm device, a vehicle-mounted display screen and a vehicle-mounted rear-view camera. The radar controller comprises a central processor, a power module, an ultrasonic driving processing module, a CAN communication module, an alarm driving module and an image processing module. The power module is connected with the ACC power supply of the vehicle and the central processor, and the ACC power supply of the vehicle provides working voltage for the central processor through the power module. The CAN communication module is connected with the instrument or BCM of the vehicle, and is used for receiving gear and vehicle speed information of the vehicle. The CAN communication module is also connected with the central processor, and is used for sending the gear and vehicle speed information to the central processor. The central processor is used for sending distance measuring instructions to the ultrasonic sensor group according to the gear and vehicle speed information. The ultrasonic driving processing module is connected with the ultrasonic sensor group, and is used for receiving distance information collected by the ultrasonic sensor group and processing the distance information. The central processor is connected with the ultrasonic driving processing module, and is used for receiving and analyzing the processed distance information to obtain alarm information. The central processor is connected with the alarm driving module, and is used for sending the alarm information to the alarm driving module. The alarm driving module is connected with the alarm device, and is used for sending the alarm information to the alarm device. The central processor is also connected with the image processing module, and is used for sending configuration parameters to the image processing module. The image processing module is connected with the vehicle-mounted rear-view camera, and is used for receiving video signals collected by the vehicle-mounted rear-view camera and processing the video signals according to the configuration parameters. The image processing module is also connected with the vehicle-mounted display screen, and is used for sending the processed video signals to the vehicle-mounted display screen. The radar controller further comprises a voltage detection reset module.

2. The vehicle-mounted ultrasonic sensor system of claim 1, wherein, The voltage detection reset module comprises a watchdog reset chip. The ultrasonic sensor group comprises a front-end ultrasonic sensor group, a rear-end ultrasonic sensor group, a left-end ultrasonic sensor group and a right-end ultrasonic sensor group.

3. The vehicle-mounted ultrasonic sensor system of claim 2, wherein, The front-end ultrasonic sensor group is installed at the front end of the vehicle, the rear-end ultrasonic sensor group is installed at the rear end of the vehicle, the left-end ultrasonic sensor group is installed at the left end of the vehicle, and the right-end ultrasonic sensor group is installed at the right end of the vehicle.

4. The vehicle-mounted ultrasonic sensor system of claim 1, wherein, ​ ​ 5. The vehicle-mounted ultrasonic sensor system of claim 4, wherein, When the ultrasonic sensor is an AK1 ultrasonic sensor, the front ultrasonic sensor group includes 4 AK1 ultrasonic sensors; the rear ultrasonic sensor group includes 4 AK1 ultrasonic sensors; the left end ultrasonic sensor group includes 4 AK1 ultrasonic sensors; and the right end ultrasonic sensor group includes 4 AK1 ultrasonic sensors.

6. The vehicle-mounted ultrasonic sensor system of claim 4, wherein, When the ultrasonic sensor is an AK2 ultrasonic sensor, the radar controller includes a DSI3 communication module, which is multiplexed as the ultrasonic driving processing module.

7. The vehicle-mounted ultrasonic sensor system of claim 4, wherein, The gears of the vehicle include P, D and R; When the gear is in P or the speed is greater than 15 km / h, all the ultrasonic sensors in the ultrasonic sensor group do not perform ranging; When the gear is in D or R, all the ultrasonic sensor groups in the ultrasonic sensor group perform ranging and send to the central processor; if the front ultrasonic sensor group detects an obstacle and the distance to the obstacle is less than a first threshold, the alarm device generates an alarm sound; if the rear ultrasonic sensor group detects an obstacle and the distance to the obstacle is less than a second threshold, the alarm device generates an alarm sound; if the left end ultrasonic sensor group detects an obstacle and the distance to the obstacle is less than a third threshold, the alarm device generates an alarm sound; and if the right end ultrasonic sensor group detects an obstacle and the distance to the obstacle is less than a fourth threshold, the alarm device generates an alarm sound; When the gear is in D, the first threshold is greater than the second, third and fourth thresholds; and when the gear is in R, the second threshold is greater than the first, third and fourth thresholds.

8. The vehicle-mounted ultrasonic sensor system of claim 7, wherein, The CAN communication module is also used to receive a turn signal of the vehicle. When the gear is in D and the turn signal is a left turn signal, the third threshold is greater than the first, second and fourth thresholds. When the gear is in D and the turn signal is a right turn signal, the fourth threshold is greater than the first, second and third thresholds.

9. The vehicle-mounted ultrasonic sensor system of claim 7, wherein, When the gear is in R, the video signal collected by the vehicle-mounted rearview camera is processed by the image processing module and then sent to the vehicle-mounted display screen for display; at the same time, the distance information of the obstacle is displayed on the vehicle-mounted display screen.

10. The vehicle-mounted ultrasonic sensor system of claim 1, wherein, The alarm device is a loudspeaker or a buzzer.

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