阅读说明：本技术 一种基于倒车雷达系统的雨量检测系统与检测方法 (Rainfall detection system and detection method based on reversing radar system ) 是由 文翊 李泽彬 孙国正 杨剑 张华桑 于 2021-07-26 设计创作，主要内容包括：本发明公开了一种基于倒车雷达系统的雨量检测系统,包括倒车雷达ECU,倒车雷达和导流管,车辆后部中央的两颗所述倒车雷达上均装载有对向设置的声波发生器和声波接收器,车辆后部中央的两颗所述倒车雷达互相对向收发测流声波,所述测流声波穿过导流管；所述倒车雷达ECU上装载有雨量计算模块,所述雨量计算模块,用于在车辆启动后,当车速超过倒车雷达工作区间车速时,开始雨量计算；计算导流管内的液体流速；对导流管内的液体流速进行矫正；根据汽车后风挡面积与矫正后的液体流速计算得到降雨量。本发明利用原车既有的雷达系统,辅助车身设计时的排水沟槽设计,完成雨量数值检测,在不增加额外配置的情况下,为车辆其他系统提供具体的雨量信号支持。(The invention discloses a rainfall detection system based on a reversing radar system, which comprises a reversing radar ECU, reversing radars and a flow guide pipe, wherein two reversing radars in the center of the rear part of a vehicle are respectively provided with a sound wave generator and a sound wave receiver which are arranged oppositely, the two reversing radars in the center of the rear part of the vehicle are mutually opposite to receive and send flow measurement sound waves, and the flow measurement sound waves pass through the flow guide pipe; the parking sensor ECU is loaded with a rainfall calculation module which is used for starting rainfall calculation when the vehicle speed exceeds the vehicle speed in the parking sensor working interval after the vehicle is started; calculating the liquid flow velocity in the guide pipe; correcting the flow velocity of the liquid in the guide pipe; and calculating according to the area of the rear windshield of the automobile and the corrected liquid flow rate to obtain the rainfall. The invention utilizes the existing radar system of the original vehicle to assist the design of the drainage channel during the design of the vehicle body, completes the rainfall numerical value detection, and provides specific rainfall signal support for other systems of the vehicle under the condition of not increasing additional configuration.)

1. A rainfall detection system based on a reversing radar system comprises a reversing radar ECU, a reversing radar and a flow guide pipe, wherein the reversing radar ECU is electrically connected with the reversing radar,

the two reversing radars in the center of the rear part of the vehicle are provided with a sound wave generator and a sound wave receiver which are arranged oppositely, and the two reversing radars in the center of the rear part of the vehicle mutually transmit and receive flow measuring sound waves oppositely;

one part of the tube body of the flow guide tube is arranged between two reversing radars in the center of the rear part of the vehicle, and the flow measurement sound waves penetrate through the flow guide tube;

the parking sensor ECU is loaded with a rainfall calculation module which is used for starting rainfall calculation when the vehicle speed exceeds the vehicle speed in the parking sensor working interval after the vehicle is started; calculating the liquid flow velocity in the guide pipe; correcting the flow velocity of the liquid in the guide pipe; and calculating according to the area of the rear windshield of the automobile and the corrected liquid flow rate to obtain the rainfall.

2. The system of claim 1, wherein the sonic receiver is configured as a reflective crystal, the reflective crystal is a honeycomb-like structure, and the flow measuring sonic wave is divided into two beams when passing through the reflective crystal, and the propagation direction of the two beams changes.

3. The system of claim 1, wherein two of the reversing radars in the center of the rear of the vehicle are covered with a wave-transparent material.

4. The system of claim 3, wherein a color layer is sprayed on the wave-transparent material.

5. A detection method using the reverse sensor system-based rainfall detection system according to claim 1, comprising the steps of:

after the vehicle is started, when the vehicle speed exceeds the vehicle speed of a reversing radar working interval, the rainfall calculation is started;

two reversing radars in the center of the rear part of the vehicle mutually transmit and receive flow measurement sound waves in opposite directions, and the flow measurement sound waves penetrate through the flow guide pipe;

calculating the liquid flow velocity in the guide pipe;

correcting the flow velocity of the liquid in the guide pipe;

and calculating according to the area of the rear windshield of the automobile and the corrected liquid flow rate to obtain the rainfall.

6. The detection method according to claim 5, wherein the correction method is to take the product of the flow rate of the liquid in the flow guide pipe, a cross-section correction coefficient W and a flow rate correction coefficient K as the corrected flow rate, wherein the cross-section correction coefficient W is the ratio of the cross-sectional area of the partition position to the cross-sectional area of the flow guide pipe, and the flow rate correction coefficient K is the ratio of the flow rate of the partition position to the flow rate of the fastest partition in the flow guide pipe.

7. The detection method according to claim 5, wherein the method for calculating the rainfall amount is as follows: according to the area of the rear windshield of the automobile, the flow velocity of liquid in the guide pipe under different rainfall is calibrated to form a corresponding relation graph of the flow velocity of the liquid and the rainfall and a conversion coefficient A, namely the product of the flow velocity of the liquid and the conversion coefficient A is used as the rainfall.

8. A computer arrangement comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method according to any of claims 5-7 are implemented when the computer program is executed by the processor.

9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 5 to 7.

Technical Field

The invention belongs to the technical field of vehicle environment sensing detection, and particularly relates to a rainfall detection system and a detection method based on a reversing radar system.

Background

At present, related intelligent automobiles need more and more systems for detecting rainfall in real time, and the systems have higher requirements on the real-time performance of rainfall detection and the accuracy of the rainfall, for example, an ESC system needs to have better rainfall control for carrying out different traction control strategies under the condition that vehicles are attached to different road surfaces, an ADAS system needs to carry out different speed reduction request opportunities according to the ground condition when the vehicles are controlled longitudinally, a blind area detection system needs to detect the transmission and shielding parameters of an adjusting wave in real time, and the false alarm in rainy days is prevented.

The existing rainfall sensor mainly detects the number of raindrops in a small area, indirectly monitors the rainfall, is mainly used for the automatic windscreen wiper function, has the advantage that the precision can not meet the requirement of subsequent vehicle-mounted functions because the automatic windscreen wiper has rough requirements on the rainfall monitoring, and can only distinguish the rainfall into strong, medium and weak gears, so that the rainfall can not be accurately extracted. In the current automobile market, the competitive pressure is huge, the cost is required to be reduced, and a rainfall sensor with higher precision is specially designed to be irretrievable and have huge cost pressure.

Disclosure of Invention

The invention aims to provide a rainfall detection system and a detection method based on a reversing radar system, which utilize the existing radar system of an original vehicle to assist the design of a drainage ditch in the design of a vehicle body, complete the detection of a rainfall numerical value and provide specific rainfall signal support for other systems of the vehicle under the condition of not increasing additional configuration.

In order to solve the technical problems, the technical scheme of the invention is as follows: a rainfall detection system based on a reversing radar system comprises a reversing radar ECU, a reversing radar and a flow guide pipe, wherein the reversing radar ECU is electrically connected with the reversing radar,

the two reversing radars in the center of the rear part of the vehicle are provided with a sound wave generator and a sound wave receiver which are arranged oppositely, and the two reversing radars in the center of the rear part of the vehicle mutually transmit and receive flow measuring sound waves oppositely;

one part of the tube body of the flow guide tube is arranged between two reversing radars in the center of the rear part of the vehicle, and the flow measurement sound waves penetrate through the flow guide tube;

the parking sensor ECU is loaded with a rainfall calculation module which is used for starting rainfall calculation when the vehicle speed exceeds the vehicle speed in the parking sensor working interval after the vehicle is started; calculating the liquid flow velocity in the guide pipe; correcting the flow velocity of the liquid in the guide pipe; and calculating according to the area of the rear windshield of the automobile and the corrected liquid flow rate to obtain the rainfall.

The sound wave receiver is arranged as a reflection crystal which is of a honeycomb-like structure, the flow measurement sound wave is divided into two beams when passing through the reflection crystal, and the propagation direction of the two beams is changed.

Two reversing radars in the center of the rear part of the vehicle are covered with wave-transmitting materials.

And a color layer is sprayed outside the wave-transmitting material.

A detection method using the rainfall detection system based on the reversing radar system comprises the following steps:

after the vehicle is started, when the vehicle speed exceeds the vehicle speed of a reversing radar working interval, the rainfall calculation is started;

two reversing radars in the center of the rear part of the vehicle mutually transmit and receive flow measurement sound waves in opposite directions, and the flow measurement sound waves penetrate through the flow guide pipe;

calculating the liquid flow velocity in the guide pipe;

correcting the flow velocity of the liquid in the guide pipe;

and calculating according to the area of the rear windshield of the automobile and the corrected liquid flow rate to obtain the rainfall.

The correction method comprises the step of taking the product of the liquid flow velocity in the guide pipe, a cross section correction coefficient W and a flow velocity correction coefficient K as the correction flow velocity, wherein the cross section correction coefficient W is the ratio of the cross section area of the partition position to the cross section area of the guide pipe, and the flow velocity correction coefficient K is the ratio of the flow velocity of the partition position to the flow velocity of the fastest partition in the guide pipe.

The method for calculating the rainfall comprises the following steps: according to the area of the rear windshield of the automobile, the flow velocity of liquid in the guide pipe under different rainfall is calibrated to form a corresponding relation graph of the flow velocity of the liquid and the rainfall and a conversion coefficient A, namely the product of the flow velocity of the liquid and the conversion coefficient A is used as the rainfall.

A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method as claimed in any one of the preceding claims when executing the computer program.

A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of the preceding claims.

Compared with the prior art, the invention has the beneficial effects that:

safety benefits are as follows: the invention can accurately measure the rainfall of the automobile in running for complete development logic and algorithm of each function, and has complete safety consideration.

Economic benefits are as follows: under the condition that other equipment is not additionally arranged, the function of measuring the rainfall is completed, and the cost is saved.

Enterprise benefits: the invention is simple and practical, is suitable for all vehicle types, can interact with various types of reversing radar systems, and can operate in a modularized mode.

Drawings

FIG. 1 is a schematic structural diagram of an embodiment of the present invention;

FIG. 2 is a front view of a reversing radar in an embodiment of the present invention;

FIG. 3 is a top view of a reversing radar in an embodiment of the present invention;

FIG. 4 is a schematic diagram of an implementation of an embodiment of the present invention;

FIG. 5 is a cross-sectional area cut-away view of a circular tube in an embodiment of the present invention;

FIG. 6 is a MAP graph showing the relationship between the flow rate of liquid in the pipe and the amount of rainfall in the embodiment of the present invention;

in the figure, 1-a flow guide pipe, 2-a reversing radar, 3-a reversing radar ECU, 4-a variable frequency pulse generator, 5-a reflection crystal, 6-a wave-transmitting material, 7-a color layer, 8-a shell, 9-a sound wave generator and 10-a connector.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

In order to achieve the purpose of the invention, the invention provides a rainfall detection system and a rainfall detection method based on a reversing radar system, and particularly provides a rainfall detection scheme with 0 cost (or extremely low cost).

The scheme is composed of a special processed reversing radar probe pressure head and a reversing radar probe improved outer substrate material configured on an original vehicle.

The radar probes of the invention, which are used for distinguishing from common reversing radar probes, are generally arranged at the center of the right back of a vehicle.

The main reason is that the vehicle model is generally arranged by front and rear six radars, the side radar is a high-performance radar which is mainly used for a blind area detection function and also participates in a reversing radar function, and in the driving process of the vehicle, the general blind area detection function is started, so that other functions are not suitable for interfering the blind area detection function.

The rear left and right detection probes are far away, the arrangement of a rainwater diversion structure is difficult, the vehicle type landing cost of the front and rear four radar arrangement vehicles of part of the vehicle types is cancelled, and the modular implementation is difficult.

The front radar is more in low-distribution vehicle type and is not provided with the front radar configuration, the modularization implementation is not easy, and the drainage flow rate of a front windshield is greatly influenced by factors such as vehicle speed and windward force.

Comprehensively considering, selecting a left probe and a right probe at the center of the rear part as probes special for a rainfall detection system based on a reversing radar system, and using the probes for the reversing radar function only when the R gear is low-speed and using the probes for the rainfall detection system when the D gear is high-speed, wherein the probes have no conflict.

The specific reversing radar probe of the invention is shown in figure 1 and figure 2, and aims to send out ultrasonic waves for calculating a reversing radar system and a rainfall detection system.

The reflection crystal 5 is a special structure, and the sound wave in the crystal can be divided into 2 beams after passing through the near-honeycomb structure of the solid and the cavity, so that the propagation direction of a part of the sound wave is changed.

The left and right probe reflection crystals 5 at the center are opposite in wave division, and the middle is connected by a flow guide pipe 1.

The wave-transmitting material 6 covers the left probe and the right probe at the rear center of the two sides, and aims to 1. when sound waves are transmitted, the energy dissipation is carried out, the natural energy dissipation is carried out, the clutter ratio of the sound waves is low, most of the sound waves are not dissipated through the resonance effect, the sound waves can be stabilized, and the directions of the sound waves are basically restricted; 2. it can be used as an adhesion layer of the color layer 7 for adhering pigment; 3. the electronic circuit in the probe is sealed and waterproof.

The color and antifogging layer is a color and protective layer, and can be used for spraying the color and the protective layer of the automobile body on a production line, so that the appearance is attractive.

In the rainwater drainage backflow system, the path of the flow guide pipe 1 is changed into the path shown in figure 4 (the longitudinal arrow in the figure indicates the flow direction of liquid in the flow guide pipe 1, and the transverse arrow indicates the propagation direction of flow measuring sound waves), or the horizontal plane of the flow guide pipe 1 is parallel to the ground, the flow guide pipe 1 is arranged from the inside of a vehicle to the outside of the vehicle, namely the direction of water flow is not completely parallel to the connecting line method of the probe and forms a certain angle, and the arrangement has the advantages that 1) the calculation amplification function is realized on the water flow, so that the rainwater drainage backflow system has the function of calculating and amplifying the water flow, and the rainwater drainage backflow system has the advantages that 1)The wave velocity is approached to a certain degree, and the error is reduced (the calculation principle is shown in a schematic diagram, wherein the pipeline X is longer in practice); 2) the sound waves naturally move to the other axial direction through water flow propagation, and move downwards after being propagated to the right at the moment of figure 1, so that layered calculation of the sound waves is facilitated, and flow velocity correction is facilitated; 3) preventing the pipeline from being blocked.

The specific working principle comprises the following steps:

1. when the vehicle speed exceeds the vehicle speed in the working interval of the reversing radar 2 (the invention is determined as 11km/h) after the vehicle is started, a rainfall calculation module in the reversing radar ECU3 is started.

2. The two reversing radars 2 positioned in the center of the rear part of the vehicle transmit and receive ultrasonic waves through the reflection crystal and the wave-transmitting material, and the reversing radar probe A1 transmits a probe A2 to receive and the A2 transmits an A1 to receive.

3. The flow rate of the liquid in the draft tube 1 is started to be calculated.

In a signal period, respectively calculating the receiving time of the probe A1 transmitting A2 receiving sound waves, the probe A2 transmitting A1 receiving sound waves with the same clock signals or the same characteristic frequency;

where v is the flow rate of the liquid in the tube, c is the velocity of the sound wave, t1 is the time of receipt of the sound wave at A1 (downstream to upstream), t2 is the time of receipt of the sound wave at A2 (upstream to downstream)

4. The flow correction of the flow rate of the liquid in the draft tube 1 is started. Wherein W is the cross-section correction coefficient (the ratio of the sectional area of the subarea to the sectional area of the draft tube). And K is the flow rate correction coefficient (the ratio of the zone flow rate to the zone flow rate leading to the fastest zone). And obtaining the corrected flow in the pipe.

As shown in fig. 5, the example is correction of a circular tube, and the section correction coefficient is W1-W4-0.1382; W2-W3-0.3618, wherein W1 is a part a cross section, W2 is a part B interface, W3 is a part C interface, and W4 is a part D interface.

The honeycomb duct 1 may be a special pipe in the development of the vehicle type, so that the cross section correction coefficient can be measured according to the actual situation.

5. Considering the rain collecting area of the rear windshield of the automobile, the calibration test can be carried out on the flow velocity in the pipe under different rainfall in the development stage in an automobile rain laboratory, a standard MAP (shown in the attached drawing, the standard rainfall of the laboratory is changed successively, the y axis is changed, each step length is X mm/square meter) shown in figure 6 is formed, and the instant flow velocity in the pipe (X axis) is measured and marked, namely, the MAP level of the corresponding relation between the flow velocity in the pipe and the rainfall is the conversion coefficient A.

6. And inquiring a corresponding relation MAP graph corresponding to the flow rate, multiplying the MAP by a conversion coefficient A (reverse inquiry) to obtain the actual rainfall, and sending the actual rainfall through a CAN signal for other controllers in the vehicle to use.

It should be noted that, according to the implementation requirement, each step/component described in the present application can be divided into more steps/components, and two or more steps/components or partial operations of the steps/components can be combined into new steps/components to achieve the purpose of the present invention.

It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.